HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r251:b70f1b89bd70

EDAC information fetching functions added.

paul -

r251:b70f1b89bd70 R3a

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r251:b70f1b89bd70

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FSW-qt/fsw-qt.pro +11 -3

             TEMPLATE = app
             # CONFIG += console v8 sim
-            # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
+            # CONFIG options =
-            # lpp_dpu_destid
+            #           verbose
+            #           boot_messages
+            #           debug_messages
+            #           cpu_usage_report
+            #           stack_report
+            #           vhdl_dev
+            #           debug_tch
+            #           lpp_dpu_destid REMOVE BEFORE DELIVERY TO LESIA
+            #           debug_watchdog
             CONFIG += console verbose lpp_dpu_destid
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-1-0
             DEFINES += SW_VERSION_N1=3 # major
             DEFINES += SW_VERSION_N2=0 # minor
             DEFINES += SW_VERSION_N3=0 # patch
-            DEFINES += SW_VERSION_N4=13 # internal
+            DEFINES += SW_VERSION_N4=14 # internal
             # <GCOV>
             #QMAKE_CFLAGS_RELEASE += -fprofile-arcs -ftest-coverage
             #LIBS += -lgcov /opt/GCOV/01A/lib/overload.o -lc
             # </GCOV>
             # <CHANGE BEFORE FLIGHT>
             contains( CONFIG, lpp_dpu_destid ) {
                 DEFINES += LPP_DPU_DESTID
             }
             # </CHANGE BEFORE FLIGHT>
             contains( CONFIG, debug_tch ) {
                 DEFINES += DEBUG_TCH
             }
             DEFINES += MSB_FIRST_TCH
             contains( CONFIG, vhdl_dev ) {
                 DEFINES += VHDL_DEV
             }
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, debug_messages ) {
                 DEFINES += DEBUG_MESSAGES
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             contains( CONFIG, stack_report ) {
                 DEFINES += PRINT_STACK_REPORT
             }
             contains( CONFIG, boot_messages ) {
                 DEFINES += BOOT_MESSAGES
             }
             contains( CONFIG, debug_watchdog ) {
                 DEFINES += DEBUG_WATCHDOG
             }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             INCLUDEPATH += \
                 $${PWD}/../src \
                 $${PWD}/../header \
                 $${PWD}/../header/lfr_common_headers \
                 $${PWD}/../header/processing \
                 $${PWD}/../LFR_basic-parameters
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c \
                 ../src/processing/fsw_processing.c \
                 ../src/processing/avf0_prc0.c \
                 ../src/processing/avf1_prc1.c \
                 ../src/processing/avf2_prc2.c \
                 ../src/lfr_cpu_usage_report.c \
                 ../LFR_basic-parameters/basic_parameters.c
             HEADERS += \
                 ../header/wf_handler.h \
                 ../header/tc_handler.h \
                 ../header/grlib_regs.h \
                 ../header/fsw_misc.h \
                 ../header/fsw_init.h \
                 ../header/fsw_spacewire.h \
                 ../header/tc_load_dump_parameters.h \
                 ../header/tm_lfr_tc_exe.h \
                 ../header/tc_acceptance.h \
                 ../header/processing/fsw_processing.h \
                 ../header/processing/avf0_prc0.h \
                 ../header/processing/avf1_prc1.h \
                 ../header/processing/avf2_prc2.h \
                 ../header/fsw_params_wf_handler.h \
                 ../header/lfr_cpu_usage_report.h \
                 ../header/lfr_common_headers/ccsds_types.h \
                 ../header/lfr_common_headers/fsw_params.h \
                 ../header/lfr_common_headers/fsw_params_nb_bytes.h \
                 ../header/lfr_common_headers/fsw_params_processing.h \
                 ../header/lfr_common_headers/TC_types.h \
                 ../header/lfr_common_headers/tm_byte_positions.h \
                 ../LFR_basic-parameters/basic_parameters.h \
                 ../LFR_basic-parameters/basic_parameters_params.h \
                 ../header/GscMemoryLPP.hpp

header/GscMemoryLPP.hpp +165 -42

@@ -1,69 +1,192
1	#ifndef GSCMEMORY_HPP_	1	#ifndef GSCMEMORY_HPP_
2	#define GSCMEMORY_HPP_	2	#define GSCMEMORY_HPP_
3		3
4	#ifndef LEON3	4	#ifndef LEON3
5	#define LEON3	5	#define LEON3
6	#endif	6	#endif
7		7
8	static unsigned int getCacheControlRegister(){	8	#define REGS_ADDR_PLUGANDPLAY 0xFFFFF000
9	#ifdef LEON3	9	#define ASR16_REG_ADDRESS 0x90400040 // Ancillary State Register 16 = Register protection control register (FT only)
10	unsigned int cacheControlRegister = 0;	10
11	__asm__ __volatile__("lda [%%g0] 2, %0" : "=r"(cacheControlRegister) : );	11	#define DEVICEID_LEON3 0x003
12	return cacheControlRegister;	12	#define DEVICEID_LEON3FT 0x053
13	#endif	13	#define VENDORID_GAISLER 0x01
14	}
15		14
16	static void setCacheControlRegister(unsigned int cacheControlRegister)	15	// CCR
		16	#define POS_ITE 12
		17	#define COUNTER_FIELD_ITE 0x00003000 // 0000 0000 0000 0000 0011 0000 0000 0000
		18	#define COUNTER_MASK_ITE 0xffffcfff // 1111 1111 1111 1111 1100 1111 1111 1111
		19	#define POS_IDE 10
		20	#define COUNTER_FIELD_IDE 0x00000c00 // 0000 0000 0000 0000 0000 1100 0000 0000
		21	#define COUNTER_MASK_IDE 0xfffff3ff // 1111 1111 1111 1111 1111 0011 1111 1111
		22	//
		23	#define POS_DTE 8
		24	#define COUNTER_FIELD_DTE 0x00000300 // 0000 0000 0000 0000 0000 0011 0000 0000
		25	#define COUNTER_MASK_DTE 0xfffffcff // 1111 1111 1111 1111 1111 1100 1111 1111
		26	#define POS_DDE 6
		27	#define COUNTER_FIELD_DDE 0x000000c0 // 0000 0000 0000 0000 0000 0000 1100 0000
		28	#define COUNTER_MASK_DDE 0xffffff3f // 1111 1111 1111 1111 1111 1111 0011 1111
		29
		30	// ASR16
		31	#define POS_FPRF 27
		32	#define COUNTER_FIELD_FPRF 0x38000000 // 0011 1000 0000 0000 0000 0000 0000 0000
		33	#define COUNTER_MASK_FPRF 0xc7ffffff // 1100 0111 1111 1111 1111 1111 1111 1111
		34	#define POS_IURF 11
		35	#define COUNTER_FIELD_IURF 0x00003800 // 0000 0000 0000 0000 0011 1000 0000 0000
		36	#define COUNTER_MASK_IURF 0xffffc7ff // 1111 1111 1111 1111 1100 0111 1111 1111
		37
		38	volatile unsigned int asr16Ptr = (volatile unsigned int ) ASR16_REG_ADDRESS;
		39
		40	static inline void flushCache()
17	{	41	{
18	#ifdef LEON3	42	/**
19	__asm__ __volatile__("sta %0, [%%g0] 2" : : "r"(cacheControlRegister));	43	* Flush the data cache and the instruction cache.
20	#endif	44	*
21	}	45	* @param void
22		46	*
		47	* @return void
		48	*/
23		49
24	/**
25	* Flush the data cache and the instruction cache.
26	*
27	* @return
28	*/
29	static inline void flushCache() {
30	asm("flush");	50	asm("flush");
31	}	51	}
32		52
33	static void resetCacheControlRegister() {	53	//***************************
34	#ifdef LEON3	54	// CCR Cache control register
		55
		56	static unsigned int CCR_getValue()
		57	{
		58	unsigned int cacheControlRegister = 0;
		59	__asm__ __volatile__("lda [%%g0] 2, %0" : "=r"(cacheControlRegister) : );
		60	return cacheControlRegister;
		61	}
		62
		63	static void CCR_setValue(unsigned int cacheControlRegister)
		64	{
		65	__asm__ __volatile__("sta %0, [%%g0] 2" : : "r"(cacheControlRegister));
		66	}
		67
		68	static void CCR_resetCacheControlRegister()
		69	{
35	unsigned int cacheControlRegister;	70	unsigned int cacheControlRegister;
36	cacheControlRegister = 0x00;	71	cacheControlRegister = 0x00;
37	~~setCacheControlRegister~~(cacheControlRegister);	72	CCR_setValue(cacheControlRegister);
38	#endif	73	}
		74
		75	static void CCR_enableInstructionCache()
		76	{
		77	// [1:0] Instruction Cache state (ICS)
		78	// Indicates the current data cache state according to the following: X0 = disabled, 01 = frozen, 11 = enabled.
		79	unsigned int cacheControlRegister;
		80	cacheControlRegister = CCR_getValue();
		81	cacheControlRegister = (cacheControlRegister \| 0x3);
		82	CCR_setValue(cacheControlRegister);
39	}	83	}
40		84
41	static void enable~~Instruction~~Cache() {	85	static void CCR_enableDataCache()
42	#ifdef LEON3	86	{
		87	// [3:2] Data Cache state (DCS)
		88	// Indicates the current data cache state according to the following: X0 = disabled, 01 = frozen, 11 = enabled.
		89	unsigned int cacheControlRegister;
		90	cacheControlRegister = CCR_getValue();
		91	cacheControlRegister = (cacheControlRegister \| 0xc);
		92	CCR_setValue(cacheControlRegister);
		93	}
		94
		95	static void CCR_faultTolerantScheme()
		96	{
		97	// [20:19] FT scheme (FT) - “00” = no FT, “01” = 4-bit checking implemented
43	unsigned int cacheControlRegister;	98	unsigned int cacheControlRegister;
44	cacheControlRegister = getCacheControlRegister();	99	unsigned int *plugAndPlayRegister;
45	cacheControlRegister = (cacheControlRegister \| 0x3);	100	unsigned int vendorId;
46	setCacheControlRegister(cacheControlRegister);	101	unsigned int deviceId;
47	#endif	102
		103	plugAndPlayRegister = (unsigned int*) REGS_ADDR_PLUGANDPLAY;
		104	vendorId = ( (*plugAndPlayRegister) & 0xff000000 ) >> 24;
		105	deviceId = ( (*plugAndPlayRegister) & 0x00fff000 ) >> 12;
		106
		107	if( (vendorId == VENDORID_GAISLER) & (deviceId ==DEVICEID_LEON3FT) )
		108	{
		109	PRINTF("in faultTolerantScheme *** Leon3FT detected, configure the CCR FT bits");
		110	cacheControlRegister = CCR_getValue();
		111	cacheControlRegister = (cacheControlRegister \| 0xc);
		112	CCR_setValue(cacheControlRegister);
		113	}
		114	else
		115	{
		116	PRINTF("in faultTolerantScheme *** not a Leon3FT, no need to configure the CCR FT bits\n");
		117	PRINTF2(" *** vendorID = 0x%x, deviceId = 0x%x\n", vendorId, deviceId);
		118	}
48	}	119	}
49		120
50	static void enable~~DataCache~~() {	121	static void CCR_enableInstructionBurstFetch()
51	#ifdef LEON3	122	{
		123	// [16] Instruction burst fetch (IB). This bit enables burst fill during instruction fetch.
52	unsigned int cacheControlRegister;	124	unsigned int cacheControlRegister;
53	cacheControlRegister = ~~getCacheControlRegister~~();	125	cacheControlRegister = CCR_getValue();
54	cacheControlRegister = (cacheControlRegister \| 0xc);	126	// set the bit IB to 1
55	~~setC~~acheControlRegister(cacheControlRegister);	127	cacheControlRegister = (cacheControlRegister \| 0x10000);
56	#endif	128	CCR_setValue(cacheControlRegister);
57	}	129	}
58		130
59	static void enableInstructionBurstFetch() {	131	static void CCR_getInstructionAndDataErrorCounters( unsigned int* instructionErrorCounter, unsigned int* dataErrorCounter )
60	#ifdef LEON3	132	{
		133	// [13:12] Instruction Tag Errors (ITE) - Number of detected parity errors in the instruction tag cache.
		134	// Only available if fault-tolerance is enabled (FT field in this register is non-zero).
		135	// [11:10] Instruction Data Errors (IDE) - Number of detected parity errors in the instruction data cache.
		136	// Only available if fault-tolerance is enabled (FT field in this register is non-zero).
		137
61	unsigned int cacheControlRegister;	138	unsigned int cacheControlRegister;
62	cacheControlRegister = getCacheControlRegister();	139	unsigned int iTE;
63	// set the bit IB to 1	140	unsigned int iDE;
64	cacheControlRegister = (cacheControlRegister \| 0x10000);	141	unsigned int dTE;
65	setCacheControlRegister(cacheControlRegister);	142	unsigned int dDE;
66	#endif	143
		144	cacheControlRegister = CCR_getValue();
		145	iTE = (cacheControlRegister & COUNTER_FIELD_ITE) >> POS_ITE;
		146	iDE = (cacheControlRegister & COUNTER_FIELD_IDE) >> POS_IDE;
		147	dTE = (cacheControlRegister & COUNTER_FIELD_DTE) >> POS_DTE;
		148	dDE = (cacheControlRegister & COUNTER_FIELD_DDE) >> POS_DDE;
		149
		150	*instructionErrorCounter = iTE + iDE;
		151	*dataErrorCounter = dTE + dDE;
		152
		153	// reset counters
		154	cacheControlRegister = cacheControlRegister
		155	& COUNTER_FIELD_ITE
		156	& COUNTER_FIELD_IDE
		157	& COUNTER_FIELD_DTE
		158	& COUNTER_FIELD_DDE;
		159
		160	CCR_setValue(cacheControlRegister);
		161	}
		162
		163	//*******************************************
		164	// ASR16 Register protection control register
		165
		166	static unsigned int ASR16_get_FPRF_IURF_ErrorCounters( unsigned int* fprfErrorCounter, unsigned int* iurfErrorCounter)
		167	{
		168	/** This function is used to retrieve the integer unit register file error counter and the floating point unit
		169	* register file error counter
		170	*
		171	* @return void
		172	*
		173	* [29:27] FP RF error counter - Number of detected parity errors in the FP register file.
		174	* [13:11] IU RF error counter - Number of detected parity errors in the IU register file.
		175	*
		176	*/
		177
		178	unsigned int asr16;
		179
		180	asr16 = *asr16Ptr;
		181	*fprfErrorCounter = ( asr16 & COUNTER_FIELD_FPRF ) >> POS_FPRF;
		182	*iurfErrorCounter = ( asr16 & COUNTER_FIELD_IURF ) >> POS_IURF;
		183
		184	// reset the counter to 0
		185	asr16 = asr16Ptr
		186	& COUNTER_MASK_FPRF
		187	& COUNTER_FIELD_IURF;
		188
		189	*asr16Ptr = asr16;
67	}	190	}
68		191
69	#endif /* GSCMEMORY_HPP_ */	192	#endif /* GSCMEMORY_HPP_ */

src/fsw_init.c +27 -8

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5 // [spiq] [wtdg] [spacewire_reset_link]
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             #include "GscMemoryLPP.hpp"
             void initCache()
             {
+                // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
+                // These should only be read and written using 32-bit LDA/STA instructions.
+                // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
+                // The table below shows the register addresses:
+                //      0x00 Cache control register
+                //      0x04 Reserved
+                //      0x08 Instruction cache configuration register
+                //      0x0C Data cache configuration register
+                // Cache Control Register Leon3 / Leon3FT
+                // 31..30  29   28  27..24  23  22  21  20..19  18  17  16
+                //         RFT  PS  TB      DS  FD  FI  FT          ST  IB
+                // 15  14  13..12  11..10  9..8  7..6  5   4   3..2  1..0
+                // IP  DP  ITE     IDE     DTE   DDE   DF  IF  DCS   ICS
                 unsigned int cacheControlRegister;
-                cacheControlRegister = getCacheControlRegister();
+                cacheControlRegister = CCR_getValue();
-                PRINTF1("(0) cacheControlRegister = %x\n", cacheControlRegister)
+                PRINTF1("(0) cacheControlRegister = %x\n", cacheControlRegister);
-                resetCacheControlRegister();
+                CCR_resetCacheControlRegister();
-                enableInstructionCache();
+                CCR_enableInstructionCache();       // ICS bits
-                enableDataCache();
+                CCR_enableDataCache();              // DCS bits
-                enableInstructionBurstFetch();
+                CCR_enableInstructionBurstFetch();  // IB  bit
-                cacheControlRegister = getCacheControlRegister();
+                cacheControlRegister = CCR_getValue();
-                PRINTF1("(1) cacheControlRegister = %x\n", cacheControlRegister)
+                PRINTF1("(1) cacheControlRegister = %x\n", cacheControlRegister);
+                CCR_faultTolerantScheme();
+                // FT activation
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 enable_apbuart_transmitter();
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d            **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_prc0();
                 init_k_coefficients_prc1();
                 init_k_coefficients_prc2();
                 pa_bia_status_info = 0x00;
                 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE  );
                 // waveform picker initialization
                 WFP_init_rings();  LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG );    // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_timecode_timer();           // create the timer used by timecode_irq_handler
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
                 }
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 set_hk_lfr_sc_potential_flag( true );
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = 0x00;
                     sequenceCounters_TM_DUMP[i] = 0x00;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    0x00;
                 sequenceCounterHK =                     TM_PACKET_SEQ_CTRL_STANDALONE << 8;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = time_management_regs->ctrl | 0x02;  // [0010] software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
                 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WTDG
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // LOAD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LOAD], TASK_PRIORITY_LOAD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LOAD]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
                     );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WTDG
                 {
                     status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // LOAD
                 {
                     status = rtems_task_start( Task_id[TASKID_LOAD], load_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LOAD\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code create_timecode_timer( void )
             {
                 rtems_status_code status;
                 status =  rtems_timer_create( timecode_timer_name, &timecode_timer_id );
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in create_timer_timecode *** ERR creating SPTC timer, %d\n", status)
                 }
                 else
                 {
                     PRINTF("in create_timer_timecode *** OK creating SPTC timer\n")
                 }
                 return status;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
             {
                 u_int32_t count;
                 rtems_status_code status;
                 status = rtems_message_queue_get_number_pending( queue_id, &count );
                 count = count + 1;
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
                 }
                 else
                 {
                     if (count > *fifo_size_max)
                     {
                         *fifo_size_max = count;
                     }
                 }
             }
             void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
             {
                 unsigned char i;
                 //***************
                 // BUFFER ADDRESS
                 for(i=0; i<nbNodes; i++)
                 {
                     ring[i].coarseTime = 0xffffffff;
                     ring[i].fineTime = 0xffffffff;
                     ring[i].sid = 0x00;
                     ring[i].status = 0x00;
                     ring[i].buffer_address  = (int) &buffer[ i * bufferSize ];
                 }
                 //*****
                 // NEXT
                  ring[ nbNodes - 1 ].next  = (ring_node*) &ring[ 0 ];
                  for(i=0; i<nbNodes-1; i++)
                  {
                      ring[i].next      = (ring_node*) &ring[ i + 1 ];
                  }
                 //*********
                 // PREVIOUS
                 ring[ 0 ].previous       = (ring_node*) &ring[ nbNodes - 1 ];
                 for(i=1; i<nbNodes; i++)
                 {
                     ring[i].previous   = (ring_node*) &ring[ i - 1 ];
                 }
             }

src/fsw_misc.c +3 0

             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             void timer_configure(unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             {
                 /** This function configures a GPTIMER timer instantiated in the VHDL design.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  * @param interrupt_level is the interrupt level that the timer drives.
                  * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
                  *
                  * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
                  *
                  */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 gptimer_regs->timer[timer].ctrl = 0x00;  // reset the control register
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status!=RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( timer, clock_divider);
             }
             void timer_start(unsigned char timer)
             {
                 /** This function starts a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
             }
             void timer_stop(unsigned char timer)
             {
                 /** This function stops a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
             }
             void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider)
             {
                 /** This function sets the clock divider of a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  *
                  */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
             }
             // WATCHDOG
             rtems_isr watchdog_isr( rtems_vector_number vector )
             {
                 rtems_status_code status_code;
                 status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 );
             }
             void watchdog_configure(void)
             {
                 /** This function configure the watchdog.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB.
                  *
                  */
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );    // mask gptimer/watchdog interrupt during configuration
                 timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );   // clear gptimer/watchdog interrupt
             }
             void watchdog_stop(void)
             {
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );                  // mask gptimer/watchdog interrupt line
                 timer_stop( TIMER_WATCHDOG );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );                 // clear gptimer/watchdog interrupt
             }
             void watchdog_reload(void)
             {
                 /** This function reloads the watchdog timer counter with the timer reload value.
                  *
+                 * @param void
+                 *
+                 * @return void
                  *
                  */
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000004;  // LD load value from the reload register
             }
             void watchdog_start(void)
             {
                 /** This function starts the watchdog timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | 0x00000008;  // IE interrupt enable
                 LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG );
             }
             int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             int enable_apbuart_transmitter( void )  // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
             //************
             // RTEMS TASKS
             rtems_task load_task(rtems_task_argument argument)
             {
                 BOOT_PRINTF("in LOAD *** \n")
                 rtems_status_code status;
                 unsigned int i;
                 unsigned int j;
                 rtems_name name_watchdog_rate_monotonic;  // name of the watchdog rate monotonic
                 rtems_id watchdog_period_id;              // id of the watchdog rate monotonic period
                 name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' );
                 status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id );
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status )
                 }
                 i = 0;
                 j = 0;
                 watchdog_configure();
                 watchdog_start();
                 while(1){
                     status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD );
                     watchdog_reload();
                     i = i + 1;
                     if ( i == 10 )
                     {
                         i = 0;
                         j = j + 1;
                         PRINTF1("%d\n", j)
                     }
             #ifdef DEBUG_WATCHDOG
                     if (j == 3 )
                     {
                         status = rtems_task_delete(RTEMS_SELF);
                     }
             #endif
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 rtems_status_code spare_status;
                 rtems_id queue_id;
                 rtems_rate_monotonic_period_status period_status;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n")
                 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 // startup phase
                 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
                 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 while(period_status.state != RATE_MONOTONIC_EXPIRED )   // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
                 {
                     if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization
                     {
                         break;  // break if LFR is synchronized
                     }
                     else
                     {
                         status = rtems_rate_monotonic_get_status( HK_id, &period_status );
             //            sched_yield();
                         status = rtems_task_wake_after( 10 );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 set_hk_lfr_reset_cause( POWER_ON );
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "in HOUS *** ERR period: %d\n", status);
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
                     }
                     else {
                         housekeeping_packet.packetSequenceControl[0] = (unsigned char) (sequenceCounterHK >> 8);
                         housekeeping_packet.packetSequenceControl[1] = (unsigned char) (sequenceCounterHK     );
                         increment_seq_counter( &sequenceCounterHK );
                         housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                         housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                         housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                         housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                         housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         spacewire_update_statistics();
                         hk_lfr_le_me_he_update();
                         set_hk_lfr_time_not_synchro();
                         housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
                         housekeeping_packet.sy_lfr_common_parameters_spare  = parameter_dump_packet.sy_lfr_common_parameters_spare;
                         housekeeping_packet.sy_lfr_common_parameters        = parameter_dump_packet.sy_lfr_common_parameters;
                         get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
                         get_v_e1_e2_f3(   housekeeping_packet.hk_lfr_sc_v_f3  );
                         get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
                         // SEND PACKET
                         status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
                                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR send: %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 return;
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
                  *
                  */
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 char *DumbMessages[14] = {"in DUMB *** default",                                            // RTEMS_EVENT_0
                                     "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
                                     "in DUMB *** f3 buffer changed",                                        // RTEMS_EVENT_2
                                     "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
                                     "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
                                     "in DUMB *** waveforms_simulator_isr",                                  // RTEMS_EVENT_5
                                     "VHDL SM *** two buffers f0 ready",                                     // RTEMS_EVENT_6
                                     "ready for dump",                                                       // RTEMS_EVENT_7
                                     "VHDL ERR *** spectral matrix",                                         // RTEMS_EVENT_8
                                     "tick",                                                                 // RTEMS_EVENT_9
                                     "VHDL ERR *** waveform picker",                                         // RTEMS_EVENT_10
                                     "VHDL ERR *** unexpected ready matrix values",                          // RTEMS_EVENT_11
                                     "WATCHDOG timer",                                                       // RTEMS_EVENT_12
                                     "TIMECODE timer"                                                        // RTEMS_EVENT_13
                 };
                 BOOT_PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
                                         | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
                                         | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12 | RTEMS_EVENT_13,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<32; i++)
                     {
                         if ( ((intEventOut >> i) & 0x0001) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             if (i==12)
                             {
                                 PRINTF1("%s\n", DumbMessages[12])
                             }
                             if (i==13)
                             {
                                 PRINTF1("%s\n", DumbMessages[13])
                             }
                         }
                     }
                 }
             }
             //*****************************
             // init housekeeping parameters
             void init_housekeeping_parameters( void )
             {
                 /** This function initialize the housekeeping_packet global variable with default values.
                  *
                  */
                 unsigned int i = 0;
                 unsigned char *parameters;
                 unsigned char sizeOfHK;
                 sizeOfHK = sizeof( Packet_TM_LFR_HK_t );
                 parameters = (unsigned char*) &housekeeping_packet;
                 for(i = 0; i< sizeOfHK; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
                 housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 housekeeping_packet.sid = SID_HK;
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
                 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1
                 housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2
                 housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3
                 housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND;
                 housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV;
                 housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0;
                 housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1;
                 housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2;
             }
             void increment_seq_counter( unsigned short *packetSequenceControl )
             {
                 /** This function increment the sequence counter passes in argument.
                  *
                  * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
                  *
                  */
                 unsigned short segmentation_grouping_flag;
                 unsigned short sequence_cnt;
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;   // keep bits 7 downto 6
                 sequence_cnt                = (*packetSequenceControl) & 0x3fff;    // [0011 1111 1111 1111]
                 if ( sequence_cnt < SEQ_CNT_MAX)
                 {
                     sequence_cnt = sequence_cnt + 1;
                 }
                 else
                 {
                     sequence_cnt = 0;
                 }
                 *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ;
             }
             void getTime( unsigned char *time)
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 time[3] = (unsigned char) (time_management_regs->coarse_time);
                 time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             unsigned long long int getTimeAsUnsignedLongLongInt( )
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 unsigned long long int time;
                 time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 )
                         + time_management_regs->fine_time;
                 return time;
             }
             void send_dumb_hk( void )
             {
                 Packet_TM_LFR_HK_t dummy_hk_packet;
                 unsigned char *parameters;
                 unsigned int i;
                 rtems_id queue_id;
                 dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 dummy_hk_packet.reserved = DEFAULT_RESERVED;
                 dummy_hk_packet.userApplication = CCSDS_USER_APP;
                 dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
                 dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 dummy_hk_packet.serviceType = TM_TYPE_HK;
                 dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
                 dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 dummy_hk_packet.sid = SID_HK;
                 // init status word
                 dummy_hk_packet.lfr_status_word[0] = 0xff;
                 dummy_hk_packet.lfr_status_word[1] = 0xff;
                 // init software version
                 dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0);
                 dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1
                 dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2
                 dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3
                 parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
                 for (i=0; i<100; i++)
                 {
                     parameters[i] = 0xff;
                 }
                 get_message_queue_id_send( &queue_id );
                 rtems_message_queue_send( queue_id, &dummy_hk_packet,
                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
             }
             void get_temperatures( unsigned char *temperatures )
             {
                 unsigned char* temp_scm_ptr;
                 unsigned char* temp_pcb_ptr;
                 unsigned char* temp_fpga_ptr;
                 // SEL1 SEL0
                 // 0    0       => PCB
                 // 0    1       => FPGA
                 // 1    0       => SCM
                 temp_scm_ptr  = (unsigned char *) &time_management_regs->temp_scm;
                 temp_pcb_ptr =  (unsigned char *) &time_management_regs->temp_pcb;
                 temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga;
                 temperatures[0] = temp_scm_ptr[2];
                 temperatures[1] = temp_scm_ptr[3];
                 temperatures[2] = temp_pcb_ptr[2];
                 temperatures[3] = temp_pcb_ptr[3];
                 temperatures[4] = temp_fpga_ptr[2];
                 temperatures[5] = temp_fpga_ptr[3];
             }
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
             {
                 unsigned char* v_ptr;
                 unsigned char* e1_ptr;
                 unsigned char* e2_ptr;
                 v_ptr  = (unsigned char *) &waveform_picker_regs->v;
                 e1_ptr = (unsigned char *) &waveform_picker_regs->e1;
                 e2_ptr = (unsigned char *) &waveform_picker_regs->e2;
                 spacecraft_potential[0] = v_ptr[2];
                 spacecraft_potential[1] = v_ptr[3];
                 spacecraft_potential[2] = e1_ptr[2];
                 spacecraft_potential[3] = e1_ptr[3];
                 spacecraft_potential[4] = e2_ptr[2];
                 spacecraft_potential[5] = e2_ptr[3];
             }
             void get_cpu_load( unsigned char *resource_statistics )
             {
                 unsigned char cpu_load;
                 cpu_load = lfr_rtems_cpu_usage_report();
                 // HK_LFR_CPU_LOAD
                 resource_statistics[0] = cpu_load;
                 // HK_LFR_CPU_LOAD_MAX
                 if (cpu_load > resource_statistics[1])
                 {
                      resource_statistics[1] = cpu_load;
                 }
                 // CPU_LOAD_AVE
                 resource_statistics[2] = 0;
             #ifndef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
             #endif
             }
             void set_hk_lfr_sc_potential_flag( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x40;   // [0100 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xbf;   // [1011 1111]
                 }
             }
             void set_hk_lfr_mag_fields_flag( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x20;   // [0010 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xd7;   // [1101 1111]
                 }
             }
             void set_hk_lfr_calib_enable( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x08;   // [0000 1000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xf7;   // [1111 0111]
                 }
             }
             void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause )
             {
                 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1]
                         | (lfr_reset_cause & 0x07 );   // [0000 0111]
             }
             void hk_lfr_le_me_he_update()
             {
                 unsigned int hk_lfr_le_cnt;
                 unsigned int hk_lfr_me_cnt;
                 unsigned int hk_lfr_he_cnt;
                 hk_lfr_le_cnt = 0;
                 hk_lfr_me_cnt = 0;
                 hk_lfr_he_cnt = 0;
                 //update the low severity error counter
                 hk_lfr_le_cnt =
                         housekeeping_packet.hk_lfr_dpu_spw_parity
                         + housekeeping_packet.hk_lfr_dpu_spw_disconnect
                         + housekeeping_packet.hk_lfr_dpu_spw_escape
                         + housekeeping_packet.hk_lfr_dpu_spw_credit
                         + housekeeping_packet.hk_lfr_dpu_spw_write_sync
                         + housekeeping_packet.hk_lfr_dpu_spw_rx_ahb
                         + housekeeping_packet.hk_lfr_dpu_spw_tx_ahb
                         + housekeeping_packet.hk_lfr_timecode_erroneous
                         + housekeeping_packet.hk_lfr_timecode_missing
                         + housekeeping_packet.hk_lfr_timecode_invalid
                         + housekeeping_packet.hk_lfr_time_timecode_it
                         + housekeeping_packet.hk_lfr_time_not_synchro
                         + housekeeping_packet.hk_lfr_time_timecode_ctr;
                 //update the medium severity error counter
                 hk_lfr_me_cnt =
                         housekeeping_packet.hk_lfr_dpu_spw_early_eop
                         + housekeeping_packet.hk_lfr_dpu_spw_invalid_addr
                         + housekeeping_packet.hk_lfr_dpu_spw_eep
                         + housekeeping_packet.hk_lfr_dpu_spw_rx_too_big;
                 //update the high severity error counter
                 hk_lfr_he_cnt = 0;
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // LE
                 housekeeping_packet.hk_lfr_le_cnt[0] = (unsigned char) ((hk_lfr_le_cnt & 0xff00) >> 8);
                 housekeeping_packet.hk_lfr_le_cnt[1] = (unsigned char)  (hk_lfr_le_cnt & 0x00ff);
                 // ME
                 housekeeping_packet.hk_lfr_me_cnt[0] = (unsigned char) ((hk_lfr_me_cnt & 0xff00) >> 8);
                 housekeeping_packet.hk_lfr_me_cnt[1] = (unsigned char)  (hk_lfr_me_cnt & 0x00ff);
                 // HE
                 housekeeping_packet.hk_lfr_he_cnt[0] = (unsigned char) ((hk_lfr_he_cnt & 0xff00) >> 8);
                 housekeeping_packet.hk_lfr_he_cnt[1] = (unsigned char)  (hk_lfr_he_cnt & 0x00ff);
             }
             void set_hk_lfr_time_not_synchro()
             {
                 static unsigned char synchroLost = 0;
                 int synchronizationBit;
                 // get the synchronization bit
                 synchronizationBit = (time_management_regs->coarse_time & 0x80000000) >> 31;    // 1000 0000 0000 0000
                 switch (synchronizationBit)
                 {
                 case 0:
                     if (synchroLost == 1)
                     {
                         synchroLost = 0;
                     }
                     break;
                 case 1:
                     if (synchroLost == 0 )
                     {
                         synchroLost = 1;
                         increase_unsigned_char_counter(&housekeeping_packet.hk_lfr_time_not_synchro);
                     }
                     break;
                 default:
                     PRINTF1("in hk_lfr_time_not_synchro *** unexpected value for synchronizationBit = %d\n", synchronizationBit);
                     break;
                 }
             }

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