HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r107:c303d2da6108

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TimeGenerator-qt/header/timegen_init.h created 644 +41 0

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		1	#ifndef TIMEGEN_INIT_H_INCLUDED
		2	#define TIMEGEN_INIT_H_INCLUDED
		3
		4	#include <rtems.h>
		5	#include <leon.h>
		6
		7	#include "fsw_params.h"
		8	#include "fsw_misc.h"
		9	#include "fsw_processing.h"
		10	#include "wf_handler.h"
		11
		12	#include "timegen_spacewire.h"
		13	#include "timegen_misc.h"
		14
		15	extern rtems_name Task_name[20]; /* array of task names */
		16	extern rtems_id Task_id[20]; /* array of task ids */
		17
		18	// RTEMS TASKS
		19	rtems_task Init( rtems_task_argument argument);
		20
		21	// OTHER functions
		22	void create_names( void );
		23	int create_all_tasks( void );
		24	int start_all_tasks( void );
		25	//
		26	rtems_status_code create_message_queues( void );
		27	rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
		28	rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
		29	//
		30	int start_recv_send_tasks( void );
		31	//
		32	void init_local_mode_parameters( void );
		33	void reset_local_time( void );
		34
		35	extern int rtems_cpu_usage_report( void );
		36	extern int rtems_cpu_usage_reset( void );
		37	extern void rtems_stack_checker_report_usage( void );
		38
		39	extern int sched_yield( void );
		40
		41	#endif // TIMEGEN_INIT_H_INCLUDED

TimeGenerator-qt/header/timegen_misc.h created 644 +39 0

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		1	#ifndef TIMEGEN_MISC_H_INCLUDED
		2	#define TIMEGEN_MISC_H_INCLUDED
		3
		4	#include <rtems.h>
		5	#include <leon.h>
		6
		7	#include "fsw_params.h"
		8	#include "TC_types.h"
		9	#include "tc_acceptance.h"
		10	#include "timegen_init.h"
		11
		12	#define TASK_PRIORITY_UPDT 40
		13
		14	typedef struct {
		15	unsigned char targetLogicalAddress;
		16	unsigned char protocolIdentifier;
		17	unsigned char reserved;
		18	unsigned char userApplication;
		19	// PACKET HEADER
		20	Packet_TC_LFR_UPDATE_TIME_t update_time;
		21	} Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t;
		22
		23	unsigned int coarseTime;
		24
		25	rtems_name rtems_name_updt;
		26	rtems_id rtems_id_updt;
		27
		28	void timegen_timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc );
		29
		30	void initCoarseTime( void );
		31
		32	rtems_task updt_task( rtems_task_argument unused );
		33
		34	int send_tc_lfr_update_time( rtems_id queue_id );
		35
		36	#endif // TIMEGEN_MISC_H_INCLUDED
		37
		38
		39

TimeGenerator-qt/header/timegen_spacewire.h created 644 +48 0

			@@ -0,0 +1,48
		1	#ifndef TIMEGEN_SPACEWIRE_H_INCLUDED
		2	#define TIMEGEN_SPACEWIRE_H_INCLUDED
		3
		4	#include <rtems.h>
		5	#include <grspw.h>
		6
		7	#include <fcntl.h> // for O_RDWR
		8	#include <unistd.h> // for the read call
		9	#include <sys/ioctl.h> // for the ioctl call
		10	#include <errno.h>
		11
		12	#include "fsw_params.h"
		13	#include "tc_acceptance.h"
		14	#include "timegen_tc_handler.h"
		15
		16	#define DESTINATION_ID_LFR 0xfe
		17	#define DESTINATION_ID_DPU 0x01
		18	#define SPACEWIRE_LINK_LFR 0x01
		19	#define NODEADDR_TIMEGEN 0xfd
		20
		21	extern rtems_id Task_id[20]; /* array of task ids */
		22	extern int fdSPW;
		23
		24	extern spw_stats spacewire_stats;
		25	extern spw_stats spacewire_stats_backup;
		26
		27	// RTEMS TASK
		28	rtems_task spiq_task( rtems_task_argument argument );
		29	rtems_task recv_task( rtems_task_argument unused );
		30	rtems_task send_task( rtems_task_argument argument );
		31	rtems_task wtdg_task( rtems_task_argument argument );
		32
		33	int spacewire_open_link( void );
		34	int spacewire_start_link( int fd );
		35	int spacewire_stop_start_link( int fd );
		36	int spacewire_configure_link(int fd );
		37	int spacewire_reset_link( void );
		38	void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
		39	void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
		40	void spacewire_compute_stats_offsets( void );
		41	void spacewire_update_statistics( void );
		42
		43	void timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc );
		44	rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data );
		45
		46	void (grspw_timecode_callback) ( void pDev, void *regs, int minor, unsigned int tc );
		47
		48	#endif // TIMEGEN_SPACEWIRE_H_INCLUDED

TimeGenerator-qt/header/timegen_tc_handler.h created 644 +56 0

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		1	#ifndef TIMEGEN_TC_HANDLER_H_INCLUDED
		2	#define TIMEGEN_TC_HANDLER_H_INCLUDED
		3
		4	#include <rtems.h>
		5	#include <leon.h>
		6
		7	#include "tc_load_dump_parameters.h"
		8	#include "tc_acceptance.h"
		9	#include "tm_lfr_tc_exe.h"
		10
		11	// MODE PARAMETERS
		12	extern unsigned int maxCount;
		13
		14	//****
		15	// ISR
		16	rtems_isr commutation_isr1( rtems_vector_number vector );
		17	rtems_isr commutation_isr2( rtems_vector_number vector );
		18
		19	//***********
		20	// RTEMS TASK
		21	rtems_task actn_task( rtems_task_argument unused );
		22
		23	//***********
		24	// TC ACTIONS
		25	int action_reset(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
		26	int action_enter_mode(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
		27	int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
		28	int action_enable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
		29	int action_disable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
		30	int action_update_time(ccsdsTelecommandPacket_t *TC);
		31
		32	// mode transition
		33	int transition_validation(unsigned char requestedMode);
		34	int stop_current_mode( void );
		35	int enter_mode(unsigned char mode);
		36	int restart_science_tasks();
		37	int suspend_science_tasks();
		38	void launch_waveform_picker( unsigned char mode );
		39	void launch_spectral_matrix( unsigned char mode );
		40	void set_irq_on_new_ready_matrix(unsigned char value );
		41	void set_run_matrix_spectral( unsigned char value );
		42	void launch_spectral_matrix_simu( unsigned char mode );
		43
		44	// other functions
		45	void updateLFRCurrentMode();
		46	void update_last_TC_exe(ccsdsTelecommandPacket_t *TC );
		47	void update_last_TC_rej(ccsdsTelecommandPacket_t *TC );
		48	void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
		49
		50	extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
		51	extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
		52
		53	#endif // TIMEGEN_TC_HANDLER_H_INCLUDED
		54
		55
		56

TimeGenerator-qt/src/timegen_init.c created 644 +476 0

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		1	/** This is the RTEMS initialization module.
		2	*
		3	* @file
		4	* @author P. LEROY
		5	*
		6	* This module contains two very different information:
		7	* - specific instructions to configure the compilation of the RTEMS executive
		8	* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
		9	*
		10	*/
		11
		12	//*************************
		13	// GPL reminder to be added
		14	//*************************
		15
		16	#include <rtems.h>
		17
		18	/* configuration information */
		19
		20	#define CONFIGURE_INIT
		21
		22	#include <bsp.h> /* for device driver prototypes */
		23
		24	/* configuration information */
		25
		26	#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
		27	#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
		28
		29	#define CONFIGURE_MAXIMUM_TASKS 20
		30	#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
		31	#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
		32	#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
		33	#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
		34	#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES \| RTEMS_NO_PREEMPT)
		35	#define CONFIGURE_MAXIMUM_DRIVERS 16
		36	#define CONFIGURE_MAXIMUM_PERIODS 5
		37	#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
		38	#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
		39	#ifdef PRINT_STACK_REPORT
		40	#define CONFIGURE_STACK_CHECKER_ENABLED
		41	#endif
		42
		43	#include <rtems/confdefs.h>
		44
		45	/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
		46	#ifdef RTEMS_DRVMGR_STARTUP
		47	#ifdef LEON3
		48	/* Add Timer and UART Driver */
		49	#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
		50	#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
		51	#endif
		52	#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
		53	#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
		54	#endif
		55	#endif
		56	#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
		57	#include <drvmgr/drvmgr_confdefs.h>
		58	#endif
		59
		60	#include "timegen_init.h"
		61	#include "fsw_config.c"
		62
		63	rtems_task Init( rtems_task_argument ignored )
		64	{
		65	/** This is the RTEMS INIT taks, it the first task launched by the system.
		66	*
		67	* @param unused is the starting argument of the RTEMS task
		68	*
		69	* The INIT task create and run all other RTEMS tasks.
		70	*
		71	*/
		72
		73	rtems_status_code status;
		74	rtems_status_code status_spw;
		75
		76	// initCoarseTime();
		77
		78	// UART settings
		79	send_console_outputs_on_apbuart_port();
		80	set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
		81	enable_apbuart_transmitter();
		82	DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
		83
		84	PRINTF("\n\n\n\n\n")
		85	PRINTF("*************************\n")
		86	PRINTF(" Time Generator \n")
		87	PRINTF1("** %d.", SW_VERSION_N1)
		88	PRINTF1("%d.", SW_VERSION_N2)
		89	PRINTF1("%d.", SW_VERSION_N3)
		90	PRINTF1("%d **\n", SW_VERSION_N4)
		91	PRINTF("*************************\n")
		92	PRINTF("\n\n")
		93
		94	// init_local_mode_parameters();
		95	// init_housekeeping_parameters();
		96
		97	// updateLFRCurrentMode();
		98
		99	// BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
		100
		101	create_names(); // create all names
		102
		103	status = create_message_queues(); // create message queues
		104	if (status != RTEMS_SUCCESSFUL)
		105	{
		106	PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
		107	}
		108
		109	status = create_all_tasks(); // create all tasks
		110	if (status != RTEMS_SUCCESSFUL)
		111	{
		112	PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
		113	}
		114
		115	// **************************
		116	// <SPACEWIRE INITIALIZATION>
		117	grspw_timecode_callback = &timegen_timecode_irq_handler;
		118
		119	status_spw = spacewire_open_link(); // (1) open the link
		120	if ( status_spw != RTEMS_SUCCESSFUL )
		121	{
		122	PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
		123	}
		124
		125	if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
		126	{
		127	status_spw = spacewire_configure_link( fdSPW );
		128	if ( status_spw != RTEMS_SUCCESSFUL )
		129	{
		130	PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
		131	}
		132	}
		133
		134	if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
		135	{
		136	status_spw = spacewire_start_link( fdSPW );
		137	if ( status_spw != RTEMS_SUCCESSFUL )
		138	{
		139	PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
		140	}
		141	}
		142	// </SPACEWIRE INITIALIZATION>
		143	// ***************************
		144
		145	status = start_all_tasks(); // start all tasks
		146	if (status != RTEMS_SUCCESSFUL)
		147	{
		148	PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
		149	}
		150
		151	// start RECV and SEND AFTER SpaceWire Initialization, due to the timeout of the start call during the initialization
		152	status = start_recv_send_tasks();
		153	if ( status != RTEMS_SUCCESSFUL )
		154	{
		155	PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
		156	}
		157
		158	// suspend science tasks. they will be restarted later depending on the mode
		159	status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
		160	if (status != RTEMS_SUCCESSFUL)
		161	{
		162	PRINTF1("in INIT * in suspend_science_tasks * ERR code: %d\n", status)
		163	}
		164
		165	// if the spacewire link is not up then send an event to the SPIQ task for link recovery
		166	if ( status_spw != RTEMS_SUCCESSFUL )
		167	{
		168	status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
		169	if ( status != RTEMS_SUCCESSFUL ) {
		170	PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
		171	}
		172	}
		173
		174	BOOT_PRINTF("delete INIT\n")
		175
		176	status = rtems_task_delete(RTEMS_SELF);
		177
		178	}
		179
		180	void init_local_mode_parameters( void )
		181	{
		182	/** This function initialize the param_local global variable with default values.
		183	*
		184	*/
		185
		186	unsigned int i;
		187
		188	// LOCAL PARAMETERS
		189	// set_local_nb_interrupt_f0_MAX();
		190
		191	BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
		192	BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
		193	BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
		194
		195	// init sequence counters
		196
		197	for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
		198	{
		199	sequenceCounters_TC_EXE[i] = 0x00;
		200	}
		201	sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
		202	sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
		203	}
		204
		205	void create_names( void ) // create all names for tasks and queues
		206	{
		207	/** This function creates all RTEMS names used in the software for tasks and queues.
		208	*
		209	* @return RTEMS directive status codes:
		210	* - RTEMS_SUCCESSFUL - successful completion
		211	*
		212	*/
		213
		214	// task names
		215	Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
		216	Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
		217	Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
		218	Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
		219	Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
		220	Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
		221	Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
		222	Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
		223	Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
		224	Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
		225	Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
		226	Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
		227	Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
		228	Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
		229	Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
		230	Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
		231
		232	// TIMEGEN
		233	rtems_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' );
		234
		235	// rate monotonic period names
		236	name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
		237
		238	misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
		239	misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
		240	}
		241
		242	int create_all_tasks( void ) // create all tasks which run in the software
		243	{
		244	/** This function creates all RTEMS tasks used in the software.
		245	*
		246	* @return RTEMS directive status codes:
		247	* - RTEMS_SUCCESSFUL - task created successfully
		248	* - RTEMS_INVALID_ADDRESS - id is NULL
		249	* - RTEMS_INVALID_NAME - invalid task name
		250	* - RTEMS_INVALID_PRIORITY - invalid task priority
		251	* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
		252	* - RTEMS_TOO_MANY - too many tasks created
		253	* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
		254	* - RTEMS_TOO_MANY - too many global objects
		255	*
		256	*/
		257
		258	rtems_status_code status;
		259
		260	//**********
		261	// SPACEWIRE
		262	// RECV
		263	status = rtems_task_create(
		264	Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
		265	RTEMS_DEFAULT_MODES,
		266	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
		267	);
		268	if (status == RTEMS_SUCCESSFUL) // SEND
		269	{
		270	status = rtems_task_create(
		271	Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
		272	RTEMS_DEFAULT_MODES \| RTEMS_NO_PREEMPT,
		273	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
		274	);
		275	}
		276	if (status == RTEMS_SUCCESSFUL) // WTDG
		277	{
		278	status = rtems_task_create(
		279	Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
		280	RTEMS_DEFAULT_MODES,
		281	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
		282	);
		283	}
		284	if (status == RTEMS_SUCCESSFUL) // ACTN
		285	{
		286	status = rtems_task_create(
		287	Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
		288	RTEMS_DEFAULT_MODES,
		289	RTEMS_DEFAULT_ATTRIBUTES \| RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
		290	);
		291	}
		292	if (status == RTEMS_SUCCESSFUL) // SPIQ
		293	{
		294	status = rtems_task_create(
		295	Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
		296	RTEMS_DEFAULT_MODES \| RTEMS_NO_PREEMPT,
		297	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
		298	);
		299	}
		300
		301	//*****
		302	// MISC
		303	if (status == RTEMS_SUCCESSFUL) // STAT
		304	{
		305	status = rtems_task_create(
		306	Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
		307	RTEMS_DEFAULT_MODES,
		308	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
		309	);
		310	}
		311	if (status == RTEMS_SUCCESSFUL) // DUMB
		312	{
		313	status = rtems_task_create(
		314	Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
		315	RTEMS_DEFAULT_MODES,
		316	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
		317	);
		318	}
		319	if (status == RTEMS_SUCCESSFUL) // UPDT
		320	{
		321	status = rtems_task_create(
		322	rtems_name_updt, TASK_PRIORITY_UPDT, RTEMS_MINIMUM_STACK_SIZE,
		323	RTEMS_DEFAULT_MODES,
		324	RTEMS_DEFAULT_ATTRIBUTES, &rtems_id_updt
		325	);
		326	}
		327
		328	return status;
		329	}
		330
		331	int start_recv_send_tasks( void )
		332	{
		333	rtems_status_code status;
		334
		335	status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
		336	if (status!=RTEMS_SUCCESSFUL) {
		337	BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
		338	}
		339
		340	if (status == RTEMS_SUCCESSFUL) // SEND
		341	{
		342	status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
		343	if (status!=RTEMS_SUCCESSFUL) {
		344	BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
		345	}
		346	}
		347
		348	return status;
		349	}
		350
		351	int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
		352	{
		353	/** This function starts all RTEMS tasks used in the software.
		354	*
		355	* @return RTEMS directive status codes:
		356	* - RTEMS_SUCCESSFUL - ask started successfully
		357	* - RTEMS_INVALID_ADDRESS - invalid task entry point
		358	* - RTEMS_INVALID_ID - invalid task id
		359	* - RTEMS_INCORRECT_STATE - task not in the dormant state
		360	* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
		361	*
		362	*/
		363	// starts all the tasks fot eh flight software
		364
		365	rtems_status_code status;
		366
		367	//**********
		368	// SPACEWIRE
		369	status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
		370	if (status!=RTEMS_SUCCESSFUL) {
		371	BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
		372	}
		373
		374	if (status == RTEMS_SUCCESSFUL) // WTDG
		375	{
		376	status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
		377	if (status!=RTEMS_SUCCESSFUL) {
		378	BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
		379	}
		380	}
		381
		382	if (status == RTEMS_SUCCESSFUL) // ACTN
		383	{
		384	status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
		385	if (status!=RTEMS_SUCCESSFUL) {
		386	BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
		387	}
		388	}
		389
		390	//*****
		391	// MISC
		392	if (status == RTEMS_SUCCESSFUL) // DUMB
		393	{
		394	status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
		395	if (status!=RTEMS_SUCCESSFUL) {
		396	BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
		397	}
		398	}
		399
		400	if (status == RTEMS_SUCCESSFUL) // STAT
		401	{
		402	status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
		403	if (status!=RTEMS_SUCCESSFUL) {
		404	BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
		405	}
		406	}
		407
		408	if (status == RTEMS_SUCCESSFUL) // UPDT
		409	{
		410	status = rtems_task_start( rtems_id_updt, updt_task, 1 );
		411	if (status!=RTEMS_SUCCESSFUL) {
		412	BOOT_PRINTF("in INIT *** Error starting TASK_UPDT\n")
		413	}
		414	}
		415
		416	return status;
		417	}
		418
		419	rtems_status_code create_message_queues( void ) // create the two message queues used in the software
		420	{
		421	rtems_status_code status_recv;
		422	rtems_status_code status_send;
		423	rtems_status_code ret;
		424	rtems_id queue_id;
		425
		426	// create the queue for handling valid TCs
		427	status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
		428	ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
		429	RTEMS_FIFO \| RTEMS_LOCAL, &queue_id );
		430	if ( status_recv != RTEMS_SUCCESSFUL ) {
		431	PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
		432	}
		433
		434	// create the queue for handling TM packet sending
		435	status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
		436	ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
		437	RTEMS_FIFO \| RTEMS_LOCAL, &queue_id );
		438	if ( status_send != RTEMS_SUCCESSFUL ) {
		439	PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
		440	}
		441
		442	if ( status_recv != RTEMS_SUCCESSFUL )
		443	{
		444	ret = status_recv;
		445	}
		446	else
		447	{
		448	ret = status_send;
		449	}
		450
		451	return ret;
		452	}
		453
		454	rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
		455	{
		456	rtems_status_code status;
		457	rtems_name queue_name;
		458
		459	queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
		460
		461	status = rtems_message_queue_ident( queue_name, 0, queue_id );
		462
		463	return status;
		464	}
		465
		466	rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
		467	{
		468	rtems_status_code status;
		469	rtems_name queue_name;
		470
		471	queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
		472
		473	status = rtems_message_queue_ident( queue_name, 0, queue_id );
		474
		475	return status;
		476	}

TimeGenerator-qt/src/timegen_misc.c created 644 +110 0

			@@ -0,0 +1,110
		1	/** Functions and tasks related to TeleCommand handling.
		2	*
		3	* @file
		4	* @author P. LEROY
		5	*
		6	* A group of functions to handle TeleCommands:\n
		7	* action launching\n
		8	* TC parsing\n
		9	* ...
		10	*
		11	*/
		12
		13	#include "timegen_misc.h"
		14	#include <stdio.h>
		15
		16	void timegen_timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc )
		17	{
		18	struct grgpio_regs_str grgpio_regs = (struct grgpio_regs_str ) REGS_ADDR_GRGPIO;
		19
		20	grgpio_regs->io_port_direction_register =
		21	grgpio_regs->io_port_direction_register \| 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
		22
		23	if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
		24	{
		25	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
		26	}
		27	else
		28	{
		29	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register \| 0x08;
		30	}
		31
		32	rtems_event_send( rtems_id_updt, RTEMS_EVENT_0 );
		33	}
		34
		35	void initCoarseTime()
		36	{
		37	coarseTime = 0x00;
		38	}
		39
		40	rtems_task updt_task( rtems_task_argument unused )
		41	{
		42	rtems_event_set event_out;
		43	rtems_id send_queue_id;
		44
		45	get_message_queue_id_send( &send_queue_id );
		46
		47	BOOT_PRINTF("in UPDT *** waiting for SpaceWire ticks\n")
		48
		49	while(1)
		50	{
		51	// wait for an RTEMS_EVENT
		52	rtems_event_receive( RTEMS_EVENT_0,
		53	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
		54	// increment the coarse time
		55	coarseTime = coarseTime + 1;
		56	PRINTF2("next valid coarseTime = 0x%x *** %d s\n", coarseTime, coarseTime)
		57	rtems_task_wake_after(70); // 10 ms * 70 = 700 ms
		58	send_tc_lfr_update_time( send_queue_id );
		59	}
		60	}
		61
		62	int send_tc_lfr_update_time(rtems_id queue_id )
		63	{
		64
		65	rtems_status_code status;
		66	unsigned char messageSize;
		67
		68	Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t packet;
		69	unsigned char crcAsTwoBytes[2];
		70
		71	// OVERHEAD
		72	packet.targetLogicalAddress = DESTINATION_ID_LFR;
		73	packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
		74	packet.reserved = DEFAULT_RESERVED;
		75	packet.userApplication = CCSDS_USER_APP;
		76
		77	// TIME PACKET
		78	packet.update_time.packetID[0] = (unsigned char) (TC_LFR_PACKET_ID >> 8);
		79	packet.update_time.packetID[1] = (unsigned char) (TC_LFR_PACKET_ID );
		80	packet.update_time.packetSequenceControl[0] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL >> 8);
		81	packet.update_time.packetSequenceControl[1] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL );
		82	packet.update_time.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME >> 8);
		83	packet.update_time.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME );
		84
		85	packet.update_time.ccsdsSecHeaderFlag_pusVersion_ack = 0x19;
		86	packet.update_time.serviceType = TC_TYPE_LFR_UPDATE_TIME;
		87	packet.update_time.serviceSubType = TC_SUBTYPE_UPDATE_TIME;
		88	packet.update_time.sourceID = SID_TC_RPW_INTERNAL;
		89	packet.update_time.cp_rpw_time[0] = (unsigned char) (coarseTime >> 24);
		90	packet.update_time.cp_rpw_time[1] = (unsigned char) (coarseTime >> 16);
		91	packet.update_time.cp_rpw_time[2] = (unsigned char) (coarseTime >> 8);
		92	packet.update_time.cp_rpw_time[3] = (unsigned char) (coarseTime);
		93	packet.update_time.cp_rpw_time[4] = 0; // fine time MSB
		94	packet.update_time.cp_rpw_time[5] = 0; // fine time LSB
		95
		96	GetCRCAsTwoBytes((unsigned char*) &packet.update_time, crcAsTwoBytes,
		97	PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET - 2);
		98	packet.update_time.crc[0] = crcAsTwoBytes[0];
		99	packet.update_time.crc[1] = crcAsTwoBytes[1];
		100
		101	messageSize = PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
		102
		103	// SEND DATA
		104	status = rtems_message_queue_send( queue_id, &packet, messageSize);
		105	if (status != RTEMS_SUCCESSFUL) {
		106	PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
		107	}
		108
		109	return status;
		110	}

TimeGenerator-qt/src/timegen_spacewire.c created 644 +601 0

This diff has been collapsed as it changes many lines, (601 lines changed) Show them Hide them
		@@ -0,0 +1,601
	1	/** Functions related to the SpaceWire interface.
	2	*
	3	* @file
	4	* @author P. LEROY
	5	*
	6	* A group of functions to handle SpaceWire transmissions:
	7	* - configuration of the SpaceWire link
	8	* - SpaceWire related interruption requests processing
	9	* - transmission of TeleMetry packets by a dedicated RTEMS task
	10	* - reception of TeleCommands by a dedicated RTEMS task
	11	*
	12	*/
	13
	14	#include "timegen_spacewire.h"
	15
	16	rtems_name semq_name;
	17	rtems_id semq_id;
	18
	19	//***********
	20	// RTEMS TASK
	21	rtems_task spiq_task(rtems_task_argument unused)
	22	{
	23	/** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
	24	*
	25	* @param unused is the starting argument of the RTEMS task
	26	*
	27	*/
	28
	29	rtems_event_set event_out;
	30	rtems_status_code status;
	31	int linkStatus;
	32
	33	BOOT_PRINTF("in SPIQ *** \n")
	34
	35	while(true){
	36	rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
	37	PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
	38
	39	// [0] SUSPEND RECV AND SEND TASKS
	40	status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
	41	if ( status != RTEMS_SUCCESSFUL ) {
	42	PRINTF("in SPIQ *** ERR suspending RECV Task\n")
	43	}
	44	status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
	45	if ( status != RTEMS_SUCCESSFUL ) {
	46	PRINTF("in SPIQ *** ERR suspending SEND Task\n")
	47	}
	48
	49	// [1] CHECK THE LINK
	50	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
	51	if ( linkStatus != 5) {
	52	PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
	53	status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
	54	}
	55
	56	// [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
	57	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
	58	if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
	59	{
	60	spacewire_compute_stats_offsets();
	61	status = spacewire_reset_link( );
	62	}
	63	else // [2.b] in run state, start the link
	64	{
	65	status = spacewire_stop_start_link( fdSPW ); // start the link
	66	if ( status != RTEMS_SUCCESSFUL)
	67	{
	68	PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
	69	}
	70	}
	71
	72	// [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
	73	if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
	74	{
	75	status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
	76	if ( status != RTEMS_SUCCESSFUL ) {
	77	PRINTF("in SPIQ *** ERR resuming SEND Task\n")
	78	}
	79	status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
	80	if ( status != RTEMS_SUCCESSFUL ) {
	81	PRINTF("in SPIQ *** ERR resuming RECV Task\n")
	82	}
	83	}
	84	else // [3.b] the link is not in run state, go in STANDBY mode
	85	{
	86	status = stop_current_mode();
	87	if ( status != RTEMS_SUCCESSFUL ) {
	88	PRINTF1("in SPIQ * ERR stop_current_mode * code %d\n", status)
	89	}
	90	status = enter_mode( LFR_MODE_STANDBY );
	91	if ( status != RTEMS_SUCCESSFUL ) {
	92	PRINTF1("in SPIQ * ERR enter_standby_mode * code %d\n", status)
	93	}
	94	// wake the WTDG task up to wait for the link recovery
	95	status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
	96	status = rtems_task_suspend( RTEMS_SELF );
	97	}
	98	}
	99	}
	100
	101	rtems_task recv_task( rtems_task_argument unused )
	102	{
	103	/** This RTEMS task is dedicated to the reception of incoming TeleCommands.
	104	*
	105	* @param unused is the starting argument of the RTEMS task
	106	*
	107	* The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
	108	* 1. It reads the incoming data.
	109	* 2. Launches the acceptance procedure.
	110	* 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
	111	*
	112	*/
	113
	114	int len;
	115	ccsdsTelecommandPacket_t currentTC;
	116	unsigned char computed_CRC[ 2 ];
	117	unsigned char currentTC_LEN_RCV[ 2 ];
	118	unsigned char destinationID;
	119	unsigned int currentTC_LEN_RCV_AsUnsignedInt;
	120	unsigned int parserCode;
	121	unsigned char time[6];
	122	rtems_status_code status;
	123	rtems_id queue_recv_id;
	124	rtems_id queue_send_id;
	125
	126	initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
	127
	128	status = get_message_queue_id_recv( &queue_recv_id );
	129	if (status != RTEMS_SUCCESSFUL)
	130	{
	131	PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
	132	}
	133
	134	status = get_message_queue_id_send( &queue_send_id );
	135	if (status != RTEMS_SUCCESSFUL)
	136	{
	137	PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
	138	}
	139
	140	BOOT_PRINTF("in RECV *** \n")
	141
	142	while(1)
	143	{
	144	len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
	145	if (len == -1){ // error during the read call
	146	PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
	147	}
	148	else {
	149	if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
	150	PRINTF("in RECV *** packet lenght too short\n")
	151	}
	152	else {
	153	currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
	154	currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
	155	currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
	156	// CHECK THE TC
	157	parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
	158	if ( (parserCode == ILLEGAL_APID) \|\| (parserCode == WRONG_LEN_PKT)
	159	\|\| (parserCode == INCOR_CHECKSUM) \|\| (parserCode == ILL_TYPE)
	160	\|\| (parserCode == ILL_SUBTYPE) \|\| (parserCode == WRONG_APP_DATA)
	161	\|\| (parserCode == WRONG_SRC_ID) )
	162	{ // send TM_LFR_TC_EXE_CORRUPTED
	163	if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
	164	&&
	165	!( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
	166	)
	167	{
	168	if ( parserCode == WRONG_SRC_ID )
	169	{
	170	destinationID = SID_TC_GROUND;
	171	}
	172	else
	173	{
	174	destinationID = currentTC.sourceID;
	175	}
	176	getTime( time );
	177	close_action( &currentTC, LFR_DEFAULT, queue_send_id );
	178	send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
	179	computed_CRC, currentTC_LEN_RCV,
	180	destinationID );
	181	}
	182	}
	183	else
	184	{ // send valid TC to the action launcher
	185	status = rtems_message_queue_send( queue_recv_id, &currentTC,
	186	currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
	187	}
	188	}
	189	}
	190	}
	191	}
	192
	193	rtems_task send_task( rtems_task_argument argument)
	194	{
	195	/** This RTEMS task is dedicated to the transmission of TeleMetry packets.
	196	*
	197	* @param unused is the starting argument of the RTEMS task
	198	*
	199	* The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
	200	* - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
	201	* - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
	202	* analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
	203	* data it contains.
	204	*
	205	*/
	206
	207	rtems_status_code status; // RTEMS status code
	208	char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
	209	size_t size; // size of the incoming TC packet
	210	u_int32_t count;
	211	rtems_id queue_id;
	212
	213	status = get_message_queue_id_send( &queue_id );
	214	if (status != RTEMS_SUCCESSFUL)
	215	{
	216	PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
	217	}
	218
	219	BOOT_PRINTF("in SEND *** \n")
	220
	221	while(1)
	222	{
	223	status = rtems_message_queue_receive( queue_id, incomingData, &size,
	224	RTEMS_WAIT, RTEMS_NO_TIMEOUT );
	225
	226	if (status!=RTEMS_SUCCESSFUL)
	227	{
	228	PRINTF1("in SEND *** (1) ERR = %d\n", status)
	229	}
	230	else
	231	{
	232	status = write( fdSPW, incomingData, size );
	233	if (status == -1){
	234	PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
	235	}
	236	}
	237
	238	status = rtems_message_queue_get_number_pending( queue_id, &count );
	239	if (status != RTEMS_SUCCESSFUL)
	240	{
	241	PRINTF1("in SEND *** (3) ERR = %d\n", status)
	242	}
	243	else
	244	{
	245	if (count > maxCount)
	246	{
	247	maxCount = count;
	248	}
	249	}
	250	}
	251	}
	252
	253	rtems_task wtdg_task( rtems_task_argument argument )
	254	{
	255	rtems_event_set event_out;
	256	rtems_status_code status;
	257	int linkStatus;
	258
	259	BOOT_PRINTF("in WTDG ***\n")
	260
	261	while(1)
	262	{
	263	// wait for an RTEMS_EVENT
	264	rtems_event_receive( RTEMS_EVENT_0,
	265	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
	266	PRINTF("in WTDG *** wait for the link\n")
	267	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
	268	while( linkStatus != 5) // wait for the link
	269	{
	270	rtems_task_wake_after( 10 );
	271	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
	272	}
	273
	274	status = spacewire_stop_start_link( fdSPW );
	275
	276	if (status != RTEMS_SUCCESSFUL)
	277	{
	278	PRINTF1("in WTDG *** ERR link not started %d\n", status)
	279	}
	280	else
	281	{
	282	PRINTF("in WTDG *** OK link started\n")
	283	}
	284
	285	// restart the SPIQ task
	286	status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
	287	if ( status != RTEMS_SUCCESSFUL ) {
	288	PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
	289	}
	290
	291	// restart RECV and SEND
	292	status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
	293	if ( status != RTEMS_SUCCESSFUL ) {
	294	PRINTF("in SPIQ *** ERR restarting SEND Task\n")
	295	}
	296	status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
	297	if ( status != RTEMS_SUCCESSFUL ) {
	298	PRINTF("in SPIQ *** ERR restarting RECV Task\n")
	299	}
	300	}
	301	}
	302
	303	//****************
	304	// OTHER FUNCTIONS
	305	int spacewire_open_link( void )
	306	{
	307	/** This function opens the SpaceWire link.
	308	*
	309	* @return a valid file descriptor in case of success, -1 in case of a failure
	310	*
	311	*/
	312	rtems_status_code status;
	313
	314	fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
	315	if ( fdSPW < 0 ) {
	316	PRINTF1("ERR * in configure_spw_link * error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
	317	}
	318	else
	319	{
	320	status = RTEMS_SUCCESSFUL;
	321	}
	322
	323	return status;
	324	}
	325
	326	int spacewire_start_link( int fd )
	327	{
	328	rtems_status_code status;
	329
	330	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
	331	// -1 default hardcoded driver timeout
	332
	333	return status;
	334	}
	335
	336	int spacewire_stop_start_link( int fd )
	337	{
	338	rtems_status_code status;
	339
	340	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
	341	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
	342	// -1 default hardcoded driver timeout
	343
	344	return status;
	345	}
	346
	347	int spacewire_configure_link( int fd )
	348	{
	349	/** This function configures the SpaceWire link.
	350	*
	351	* @return GR-RTEMS-DRIVER directive status codes:
	352	* - 22 EINVAL - Null pointer or an out of range value was given as the argument.
	353	* - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
	354	* - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
	355	* - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
	356	* - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
	357	* - 5 EIO - Error when writing to grswp hardware registers.
	358	* - 2 ENOENT - No such file or directory
	359	*/
	360
	361	rtems_status_code status;
	362
	363	spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
	364	spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
	365
	366	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
	367	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
	368	//
	369	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
	370	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
	371	//
	372	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
	373	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
	374	//
	375	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
	376	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
	377	//
	378	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
	379	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
	380	//
	381	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
	382	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
	383	//
	384	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
	385	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL\n")
	386
	387	return status;
	388	}
	389
	390	int spacewire_reset_link( void )
	391	{
	392	/** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
	393	*
	394	* @return RTEMS directive status code:
	395	* - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
	396	* - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
	397	*
	398	*/
	399
	400	rtems_status_code status_spw;
	401	int i;
	402
	403	for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
	404	{
	405	PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
	406
	407	// CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
	408
	409	status_spw = spacewire_stop_start_link( fdSPW );
	410	if ( status_spw != RTEMS_SUCCESSFUL )
	411	{
	412	PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
	413	}
	414
	415	if ( status_spw == RTEMS_SUCCESSFUL)
	416	{
	417	break;
	418	}
	419	}
	420
	421	return status_spw;
	422	}
	423
	424	void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
	425	{
	426	/** This function sets the [N]o [P]ort force bit of the GRSPW control register.
	427	*
	428	* @param val is the value, 0 or 1, used to set the value of the NP bit.
	429	* @param regAddr is the address of the GRSPW control register.
	430	*
	431	* NP is the bit 20 of the GRSPW control register.
	432	*
	433	*/
	434
	435	unsigned int spwptr = (unsigned int) regAddr;
	436
	437	if (val == 1) {
	438	spwptr = spwptr \| 0x00100000; // [NP] set the No port force bit
	439	}
	440	if (val== 0) {
	441	spwptr = spwptr & 0xffdfffff;
	442	}
	443	}
	444
	445	void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
	446	{
	447	/** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
	448	*
	449	* @param val is the value, 0 or 1, used to set the value of the RE bit.
	450	* @param regAddr is the address of the GRSPW control register.
	451	*
	452	* RE is the bit 16 of the GRSPW control register.
	453	*
	454	*/
	455
	456	unsigned int spwptr = (unsigned int) regAddr;
	457
	458	if (val == 1)
	459	{
	460	spwptr = spwptr \| 0x00010000; // [RE] set the RMAP Enable bit
	461	}
	462	if (val== 0)
	463	{
	464	spwptr = spwptr & 0xfffdffff;
	465	}
	466	}
	467
	468	void spacewire_compute_stats_offsets( void )
	469	{
	470	/** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
	471	*
	472	* The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
	473	* to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
	474	* during the open systel call).
	475	*
	476	*/
	477
	478	spw_stats spacewire_stats_grspw;
	479	rtems_status_code status;
	480
	481	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
	482
	483	spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
	484	+ spacewire_stats.packets_received;
	485	spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
	486	+ spacewire_stats.packets_sent;
	487	spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
	488	+ spacewire_stats.parity_err;
	489	spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
	490	+ spacewire_stats.disconnect_err;
	491	spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
	492	+ spacewire_stats.escape_err;
	493	spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
	494	+ spacewire_stats.credit_err;
	495	spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
	496	+ spacewire_stats.write_sync_err;
	497	spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
	498	+ spacewire_stats.rx_rmap_header_crc_err;
	499	spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
	500	+ spacewire_stats.rx_rmap_data_crc_err;
	501	spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
	502	+ spacewire_stats.early_ep;
	503	spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
	504	+ spacewire_stats.invalid_address;
	505	spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
	506	+ spacewire_stats.rx_eep_err;
	507	spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
	508	+ spacewire_stats.rx_truncated;
	509	}
	510
	511	void spacewire_update_statistics( void )
	512	{
	513	rtems_status_code status;
	514	spw_stats spacewire_stats_grspw;
	515
	516	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
	517
	518	spacewire_stats.packets_received = spacewire_stats_backup.packets_received
	519	+ spacewire_stats_grspw.packets_received;
	520	spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
	521	+ spacewire_stats_grspw.packets_sent;
	522	spacewire_stats.parity_err = spacewire_stats_backup.parity_err
	523	+ spacewire_stats_grspw.parity_err;
	524	spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
	525	+ spacewire_stats_grspw.disconnect_err;
	526	spacewire_stats.escape_err = spacewire_stats_backup.escape_err
	527	+ spacewire_stats_grspw.escape_err;
	528	spacewire_stats.credit_err = spacewire_stats_backup.credit_err
	529	+ spacewire_stats_grspw.credit_err;
	530	spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
	531	+ spacewire_stats_grspw.write_sync_err;
	532	spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
	533	+ spacewire_stats_grspw.rx_rmap_header_crc_err;
	534	spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
	535	+ spacewire_stats_grspw.rx_rmap_data_crc_err;
	536	spacewire_stats.early_ep = spacewire_stats_backup.early_ep
	537	+ spacewire_stats_grspw.early_ep;
	538	spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
	539	+ spacewire_stats_grspw.invalid_address;
	540	spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
	541	+ spacewire_stats_grspw.rx_eep_err;
	542	spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
	543	+ spacewire_stats_grspw.rx_truncated;
	544	//spacewire_stats.tx_link_err;
	545
	546	//****************************
	547	// DPU_SPACEWIRE_IF_STATISTICS
	548	housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
	549	housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
	550	housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
	551	housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
	552	//housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
	553	//housekeeping_packet.hk_lfr_dpu_spw_last_timc;
	554
	555	//******************************************
	556	// ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
	557	housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
	558	housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
	559	housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
	560	housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
	561	housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
	562
	563	//*********************************************
	564	// ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
	565	housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
	566	housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
	567	housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
	568	housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
	569	}
	570
	571	void timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc )
	572	{
	573	// rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 );
	574	struct grgpio_regs_str grgpio_regs = (struct grgpio_regs_str ) REGS_ADDR_GRGPIO;
	575
	576	grgpio_regs->io_port_direction_register =
	577	grgpio_regs->io_port_direction_register \| 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
	578
	579	if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
	580	{
	581	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
	582	}
	583	else
	584	{
	585	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register \| 0x08;
	586	}
	587
	588	}
	589
	590	rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
	591	{
	592	int linkStatus;
	593	rtems_status_code status;
	594
	595	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
	596
	597	if ( linkStatus == 5) {
	598	PRINTF("in spacewire_reset_link *** link is running\n")
	599	status = RTEMS_SUCCESSFUL;
	600	}
	601	}

TimeGenerator-qt/src/timegen_tc_handler.c created 644 +793 0

This diff has been collapsed as it changes many lines, (793 lines changed) Show them Hide them
		@@ -0,0 +1,793
	1	/** Functions and tasks related to TeleCommand handling.
	2	*
	3	* @file
	4	* @author P. LEROY
	5	*
	6	* A group of functions to handle TeleCommands:\n
	7	* action launching\n
	8	* TC parsing\n
	9	* ...
	10	*
	11	*/
	12
	13	#include "timegen_tc_handler.h"
	14
	15	//***********
	16	// RTEMS TASK
	17
	18	rtems_task actn_task( rtems_task_argument unused )
	19	{
	20	/** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
	21	*
	22	* @param unused is the starting argument of the RTEMS task
	23	*
	24	* The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
	25	* on the incoming TeleCommand.
	26	*
	27	*/
	28
	29	int result;
	30	rtems_status_code status; // RTEMS status code
	31	ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
	32	size_t size; // size of the incoming TC packet
	33	unsigned char subtype; // subtype of the current TC packet
	34	unsigned char time[6];
	35	rtems_id queue_rcv_id;
	36	rtems_id queue_snd_id;
	37
	38	status = get_message_queue_id_recv( &queue_rcv_id );
	39	if (status != RTEMS_SUCCESSFUL)
	40	{
	41	PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
	42	}
	43
	44	status = get_message_queue_id_send( &queue_snd_id );
	45	if (status != RTEMS_SUCCESSFUL)
	46	{
	47	PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
	48	}
	49
	50	result = LFR_SUCCESSFUL;
	51	subtype = 0; // subtype of the current TC packet
	52
	53	BOOT_PRINTF("in ACTN *** \n")
	54
	55	while(1)
	56	{
	57	status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
	58	RTEMS_WAIT, RTEMS_NO_TIMEOUT);
	59	getTime( time ); // set time to the current time
	60	if (status!=RTEMS_SUCCESSFUL)
	61	{
	62	PRINTF1("ERR * in task ACTN * error receiving a message, code %d \n", status)
	63	}
	64	else
	65	{
	66	subtype = TC.serviceSubType;
	67	switch(subtype)
	68	{
	69	case TC_SUBTYPE_RESET:
	70	// result = action_reset( &TC, queue_snd_id, time );
	71	close_action( &TC, result, queue_snd_id );
	72	break;
	73	//
	74	case TC_SUBTYPE_LOAD_COMM:
	75	// result = action_load_common_par( &TC );
	76	close_action( &TC, result, queue_snd_id );
	77	break;
	78	//
	79	case TC_SUBTYPE_LOAD_NORM:
	80	// result = action_load_normal_par( &TC, queue_snd_id, time );
	81	close_action( &TC, result, queue_snd_id );
	82	break;
	83	//
	84	case TC_SUBTYPE_LOAD_BURST:
	85	// result = action_load_burst_par( &TC, queue_snd_id, time );
	86	close_action( &TC, result, queue_snd_id );
	87	break;
	88	//
	89	case TC_SUBTYPE_LOAD_SBM1:
	90	// result = action_load_sbm1_par( &TC, queue_snd_id, time );
	91	close_action( &TC, result, queue_snd_id );
	92	break;
	93	//
	94	case TC_SUBTYPE_LOAD_SBM2:
	95	// result = action_load_sbm2_par( &TC, queue_snd_id, time );
	96	close_action( &TC, result, queue_snd_id );
	97	break;
	98	//
	99	case TC_SUBTYPE_DUMP:
	100	// result = action_dump_par( queue_snd_id );
	101	close_action( &TC, result, queue_snd_id );
	102	break;
	103	//
	104	case TC_SUBTYPE_ENTER:
	105	result = action_enter_mode( &TC, queue_snd_id, time );
	106	close_action( &TC, result, queue_snd_id );
	107	break;
	108	//
	109	case TC_SUBTYPE_UPDT_INFO:
	110	// result = action_update_info( &TC, queue_snd_id );
	111	close_action( &TC, result, queue_snd_id );
	112	break;
	113	//
	114	case TC_SUBTYPE_EN_CAL:
	115	// result = action_enable_calibration( &TC, queue_snd_id, time );
	116	close_action( &TC, result, queue_snd_id );
	117	break;
	118	//
	119	case TC_SUBTYPE_DIS_CAL:
	120	// result = action_disable_calibration( &TC, queue_snd_id, time );
	121	close_action( &TC, result, queue_snd_id );
	122	break;
	123	//
	124	case TC_SUBTYPE_UPDT_TIME:
	125	result = action_update_time( &TC );
	126	close_action( &TC, result, queue_snd_id );
	127	break;
	128	//
	129	default:
	130	break;
	131	}
	132	}
	133	}
	134	}
	135
	136	//***********
	137	// TC ACTIONS
	138
	139	int action_reset(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
	140	{
	141	/** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
	142	*
	143	* @param TC points to the TeleCommand packet that is being processed
	144	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
	145	*
	146	*/
	147
	148	send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
	149	return LFR_DEFAULT;
	150	}
	151
	152	int action_enter_mode(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
	153	{
	154	/** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
	155	*
	156	* @param TC points to the TeleCommand packet that is being processed
	157	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
	158	*
	159	*/
	160
	161	rtems_status_code status;
	162	unsigned char requestedMode;
	163
	164	requestedMode = TC->dataAndCRC[1];
	165
	166	if ( (requestedMode != LFR_MODE_STANDBY)
	167	&& (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
	168	&& (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
	169	{
	170	status = RTEMS_UNSATISFIED;
	171	send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
	172	}
	173	else
	174	{
	175	printf("in action_enter_mode *** enter mode %d\n", requestedMode);
	176
	177	status = transition_validation(requestedMode);
	178
	179	if ( status == LFR_SUCCESSFUL ) {
	180	if ( lfrCurrentMode != LFR_MODE_STANDBY)
	181	{
	182	status = stop_current_mode();
	183	}
	184	if (status != RTEMS_SUCCESSFUL)
	185	{
	186	PRINTF("ERR * in action_enter * stop_current_mode\n")
	187	}
	188	status = enter_mode( requestedMode );
	189	}
	190	else
	191	{
	192	PRINTF("ERR * in action_enter * transition rejected\n")
	193	send_tm_lfr_tc_exe_not_executable( TC, queue_id );
	194	}
	195	}
	196
	197	return status;
	198	}
	199
	200	int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
	201	{
	202	// /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
	203	// *
	204	// * @param TC points to the TeleCommand packet that is being processed
	205	// * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
	206	// *
	207	// * @return LFR directive status code:
	208	// * - LFR_DEFAULT
	209	// * - LFR_SUCCESSFUL
	210	// *
	211	// */
	212
	213	// unsigned int val;
	214	int result;
	215
	216	result = LFR_DEFAULT;
	217	// unsigned int status;
	218	// unsigned char mode;
	219
	220	// // check LFR MODE
	221	// mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET5 ] & 0x1e) >> 1;
	222	// status = check_update_info_hk_lfr_mode( mode );
	223	// if (status != LFR_DEFAULT) // check TDS mode
	224	// {
	225	// mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0xf0) >> 4;
	226	// status = check_update_info_hk_tds_mode( mode );
	227	// }
	228	// if (status != LFR_DEFAULT) // check THR mode
	229	// {
	230	// mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0x0f);
	231	// status = check_update_info_hk_thr_mode( mode );
	232	// }
	233	// if (status != LFR_DEFAULT) // if the parameter check is successful
	234	// {
	235	// val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
	236	// + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
	237	// val++;
	238	// housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
	239	// housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
	240	// }
	241
	242	// result = status;
	243
	244	return result;
	245	}
	246
	247	int action_enable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
	248	{
	249	/** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
	250	*
	251	* @param TC points to the TeleCommand packet that is being processed
	252	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
	253	*
	254	*/
	255
	256	int result;
	257	unsigned char lfrMode;
	258
	259	result = LFR_DEFAULT;
	260	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
	261
	262	send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
	263	result = LFR_DEFAULT;
	264
	265	return result;
	266	}
	267
	268	int action_disable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
	269	{
	270	/** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
	271	*
	272	* @param TC points to the TeleCommand packet that is being processed
	273	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
	274	*
	275	*/
	276
	277	int result;
	278	unsigned char lfrMode;
	279
	280	result = LFR_DEFAULT;
	281	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
	282
	283	send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
	284	result = LFR_DEFAULT;
	285
	286	return result;
	287	}
	288
	289	int action_update_time(ccsdsTelecommandPacket_t *TC)
	290	{
	291	/** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
	292	*
	293	* @param TC points to the TeleCommand packet that is being processed
	294	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
	295	*
	296	* @return LFR_SUCCESSFUL
	297	*
	298	*/
	299
	300	unsigned int val;
	301
	302	time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
	303	+ (TC->dataAndCRC[1] << 16)
	304	+ (TC->dataAndCRC[2] << 8)
	305	+ TC->dataAndCRC[3];
	306	val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
	307	+ housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
	308	val++;
	309	housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
	310	housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
	311	// time_management_regs->ctrl = time_management_regs->ctrl \| 1; // force tick
	312
	313	return LFR_SUCCESSFUL;
	314	}
	315
	316	//*******************
	317	// ENTERING THE MODES
	318
	319	int transition_validation(unsigned char requestedMode)
	320	{
	321	/** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
	322	*
	323	* @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
	324	*
	325	* @return LFR directive status codes:
	326	* - LFR_SUCCESSFUL - the transition is authorized
	327	* - LFR_DEFAULT - the transition is not authorized
	328	*
	329	*/
	330
	331	int status;
	332
	333	switch (requestedMode)
	334	{
	335	case LFR_MODE_STANDBY:
	336	if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
	337	status = LFR_DEFAULT;
	338	}
	339	else
	340	{
	341	status = LFR_SUCCESSFUL;
	342	}
	343	break;
	344	case LFR_MODE_NORMAL:
	345	if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
	346	status = LFR_DEFAULT;
	347	}
	348	else {
	349	status = LFR_SUCCESSFUL;
	350	}
	351	break;
	352	case LFR_MODE_BURST:
	353	if ( lfrCurrentMode == LFR_MODE_BURST ) {
	354	status = LFR_DEFAULT;
	355	}
	356	else {
	357	status = LFR_SUCCESSFUL;
	358	}
	359	break;
	360	case LFR_MODE_SBM1:
	361	if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
	362	status = LFR_DEFAULT;
	363	}
	364	else {
	365	status = LFR_SUCCESSFUL;
	366	}
	367	break;
	368	case LFR_MODE_SBM2:
	369	if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
	370	status = LFR_DEFAULT;
	371	}
	372	else {
	373	status = LFR_SUCCESSFUL;
	374	}
	375	break;
	376	default:
	377	status = LFR_DEFAULT;
	378	break;
	379	}
	380
	381	return status;
	382	}
	383
	384	int stop_current_mode(void)
	385	{
	386	/** This function stops the current mode by masking interrupt lines and suspending science tasks.
	387	*
	388	* @return RTEMS directive status codes:
	389	* - RTEMS_SUCCESSFUL - task restarted successfully
	390	* - RTEMS_INVALID_ID - task id invalid
	391	* - RTEMS_ALREADY_SUSPENDED - task already suspended
	392	*
	393	*/
	394
	395	rtems_status_code status;
	396
	397	status = RTEMS_SUCCESSFUL;
	398
	399	// (1) mask interruptions
	400	LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt
	401	LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt
	402
	403	// (2) clear interruptions
	404	LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt
	405	LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt
	406
	407	// (3) reset registers
	408	// waveform picker
	409	// reset_wfp_burst_enable(); // reset burst and enable bits
	410	// reset_wfp_status(); // reset all the status bits
	411	// spectral matrices
	412	set_irq_on_new_ready_matrix( 0 ); // stop the spectral matrices
	413	set_run_matrix_spectral( 0 ); // run_matrix_spectral is set to 0
	414	// reset_extractSWF(); // reset the extractSWF flag to false
	415
	416	// <Spectral Matrices simulator>
	417	LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); // mask spectral matrix interrupt simulator
	418	timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
	419	LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); // clear spectral matrix interrupt simulator
	420	// </Spectral Matrices simulator>
	421
	422	// suspend several tasks
	423	if (lfrCurrentMode != LFR_MODE_STANDBY) {
	424	status = suspend_science_tasks();
	425	}
	426
	427	if (status != RTEMS_SUCCESSFUL)
	428	{
	429	PRINTF1("in stop_current_mode * in suspend_science_tasks * ERR code: %d\n", status)
	430	}
	431
	432	return status;
	433	}
	434
	435	int enter_mode(unsigned char mode )
	436	{
	437	/** This function is launched after a mode transition validation.
	438	*
	439	* @param mode is the mode in which LFR will be put.
	440	*
	441	* @return RTEMS directive status codes:
	442	* - RTEMS_SUCCESSFUL - the mode has been entered successfully
	443	* - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
	444	*
	445	*/
	446
	447	rtems_status_code status;
	448
	449	status = RTEMS_UNSATISFIED;
	450
	451	housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
	452	updateLFRCurrentMode();
	453
	454	if ( (mode == LFR_MODE_NORMAL) \|\| (mode == LFR_MODE_BURST)
	455	\|\| (mode == LFR_MODE_SBM1) \|\| (mode == LFR_MODE_SBM2) )
	456	{
	457	#ifdef PRINT_TASK_STATISTICS
	458	rtems_cpu_usage_reset();
	459	maxCount = 0;
	460	#endif
	461	status = restart_science_tasks();
	462	// launch_waveform_picker( mode );
	463	// launch_spectral_matrix( mode );
	464	}
	465	else if ( mode == LFR_MODE_STANDBY )
	466	{
	467	#ifdef PRINT_TASK_STATISTICS
	468	rtems_cpu_usage_report();
	469	#endif
	470
	471	#ifdef PRINT_STACK_REPORT
	472	rtems_stack_checker_report_usage();
	473	#endif
	474	status = stop_current_mode();
	475	PRINTF1("maxCount = %d\n", maxCount)
	476	}
	477	else
	478	{
	479	status = RTEMS_UNSATISFIED;
	480	}
	481
	482	if (status != RTEMS_SUCCESSFUL)
	483	{
	484	PRINTF1("in enter_mode *** ERR = %d\n", status)
	485	status = RTEMS_UNSATISFIED;
	486	}
	487
	488	return status;
	489	}
	490
	491	int restart_science_tasks()
	492	{
	493	/** This function is used to restart all science tasks.
	494	*
	495	* @return RTEMS directive status codes:
	496	* - RTEMS_SUCCESSFUL - task restarted successfully
	497	* - RTEMS_INVALID_ID - task id invalid
	498	* - RTEMS_INCORRECT_STATE - task never started
	499	* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
	500	*
	501	* Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1
	502	*
	503	*/
	504
	505	rtems_status_code status[6];
	506	rtems_status_code ret;
	507
	508	ret = RTEMS_SUCCESSFUL;
	509
	510	status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
	511	if (status[0] != RTEMS_SUCCESSFUL)
	512	{
	513	PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
	514	}
	515
	516	status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
	517	if (status[2] != RTEMS_SUCCESSFUL)
	518	{
	519	PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
	520	}
	521
	522	status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
	523	if (status[3] != RTEMS_SUCCESSFUL)
	524	{
	525	PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
	526	}
	527
	528	status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
	529	if (status[4] != RTEMS_SUCCESSFUL)
	530	{
	531	PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
	532	}
	533
	534	status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
	535	if (status[5] != RTEMS_SUCCESSFUL)
	536	{
	537	PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
	538	}
	539
	540	if ( (status[0] != RTEMS_SUCCESSFUL) \|\| (status[2] != RTEMS_SUCCESSFUL) \|\|
	541	(status[3] != RTEMS_SUCCESSFUL) \|\| (status[4] != RTEMS_SUCCESSFUL) \|\| (status[5] != RTEMS_SUCCESSFUL) )
	542	{
	543	ret = RTEMS_UNSATISFIED;
	544	}
	545
	546	return ret;
	547	}
	548
	549	int suspend_science_tasks()
	550	{
	551	/** This function suspends the science tasks.
	552	*
	553	* @return RTEMS directive status codes:
	554	* - RTEMS_SUCCESSFUL - task restarted successfully
	555	* - RTEMS_INVALID_ID - task id invalid
	556	* - RTEMS_ALREADY_SUSPENDED - task already suspended
	557	*
	558	*/
	559
	560	rtems_status_code status;
	561
	562	status = rtems_task_suspend( Task_id[TASKID_AVF0] );
	563	if (status != RTEMS_SUCCESSFUL)
	564	{
	565	PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
	566	}
	567
	568	if (status == RTEMS_SUCCESSFUL) // suspend WFRM
	569	{
	570	status = rtems_task_suspend( Task_id[TASKID_WFRM] );
	571	if (status != RTEMS_SUCCESSFUL)
	572	{
	573	PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
	574	}
	575	}
	576
	577	if (status == RTEMS_SUCCESSFUL) // suspend CWF3
	578	{
	579	status = rtems_task_suspend( Task_id[TASKID_CWF3] );
	580	if (status != RTEMS_SUCCESSFUL)
	581	{
	582	PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
	583	}
	584	}
	585
	586	if (status == RTEMS_SUCCESSFUL) // suspend CWF2
	587	{
	588	status = rtems_task_suspend( Task_id[TASKID_CWF2] );
	589	if (status != RTEMS_SUCCESSFUL)
	590	{
	591	PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
	592	}
	593	}
	594
	595	if (status == RTEMS_SUCCESSFUL) // suspend CWF1
	596	{
	597	status = rtems_task_suspend( Task_id[TASKID_CWF1] );
	598	if (status != RTEMS_SUCCESSFUL)
	599	{
	600	PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
	601	}
	602	}
	603
	604	return status;
	605	}
	606
	607	void launch_waveform_picker( unsigned char mode )
	608	{
	609	// int startDate;
	610
	611	// reset_current_ring_nodes();
	612	// reset_waveform_picker_regs();
	613	// set_wfp_burst_enable_register( mode );
	614
	615	// LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
	616	// LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
	617
	618	// startDate = time_management_regs->coarse_time + 2;
	619	// waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable \| 0x80; // [1000 0000]
	620	// waveform_picker_regs->start_date = startDate;
	621	}
	622
	623	void launch_spectral_matrix( unsigned char mode )
	624	{
	625	// reset_nb_sm_f0();
	626	// reset_current_sm_ring_nodes();
	627	// reset_spectral_matrix_regs();
	628
	629	//#ifdef VHDL_DEV
	630	// set_irq_on_new_ready_matrix( 1 );
	631	// LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
	632	// LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
	633	// set_run_matrix_spectral( 1 );
	634	//#else
	635	// // Spectral Matrices simulator
	636	// timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
	637	// LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
	638	// LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
	639	//#endif
	640	}
	641
	642	void set_irq_on_new_ready_matrix( unsigned char value )
	643	{
	644	if (value == 1)
	645	{
	646	spectral_matrix_regs->config = spectral_matrix_regs->config \| 0x01;
	647	}
	648	else
	649	{
	650	spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe; // 1110
	651	}
	652	}
	653
	654	void set_run_matrix_spectral( unsigned char value )
	655	{
	656	if (value == 1)
	657	{
	658	spectral_matrix_regs->config = spectral_matrix_regs->config \| 0x4; // 0100 set run_matrix spectral to 1
	659	}
	660	else
	661	{
	662	spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb; // 1011 set run_matrix spectral to 0
	663	}
	664	}
	665
	666	void launch_spectral_matrix_simu( unsigned char mode )
	667	{
	668	// reset_nb_sm_f0();
	669	// reset_current_sm_ring_nodes();
	670	// reset_spectral_matrix_regs();
	671
	672	// // Spectral Matrices simulator
	673	// timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
	674	// LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
	675	// LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
	676	// set_local_nb_interrupt_f0_MAX();
	677	}
	678
	679	//****************
	680	// CLOSING ACTIONS
	681	void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
	682	{
	683	/** This function is used to update the HK packets statistics after a successful TC execution.
	684	*
	685	* @param TC points to the TC being processed
	686	* @param time is the time used to date the TC execution
	687	*
	688	*/
	689
	690	housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
	691	housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
	692	housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
	693	housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
	694	housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
	695	housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
	696	housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	697	housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	698	housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	699	housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
	700	housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	701	housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
	702	}
	703
	704	void update_last_TC_rej(ccsdsTelecommandPacket_t *TC )
	705	{
	706	/** This function is used to update the HK packets statistics after a TC rejection.
	707	*
	708	* @param TC points to the TC being processed
	709	* @param time is the time used to date the TC rejection
	710	*
	711	*/
	712
	713	housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
	714	housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
	715	housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
	716	housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
	717	housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
	718	housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
	719	housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	720	housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	721	housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	722	housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
	723	housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	724	housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
	725	}
	726
	727	void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
	728	{
	729	/** This function is the last step of the TC execution workflow.
	730	*
	731	* @param TC points to the TC being processed
	732	* @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
	733	* @param queue_id is the id of the RTEMS message queue used to send TM packets
	734	* @param time is the time used to date the TC execution
	735	*
	736	*/
	737
	738	unsigned int val = 0;
	739
	740	if (result == LFR_SUCCESSFUL)
	741	{
	742	if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
	743	&&
	744	!( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
	745	)
	746	{
	747	send_tm_lfr_tc_exe_success( TC, queue_id );
	748	}
	749	update_last_TC_exe( TC );
	750	val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
	751	val++;
	752	housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
	753	housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
	754	}
	755	else
	756	{
	757	update_last_TC_rej( TC );
	758	val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
	759	val++;
	760	housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
	761	housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
	762	}
	763	}
	764
	765	//***************************
	766	// Interrupt Service Routines
	767	rtems_isr commutation_isr1( rtems_vector_number vector )
	768	{
	769	if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
	770	printf("In commutation_isr1 *** Error sending event to DUMB\n");
	771	}
	772	}
	773
	774	rtems_isr commutation_isr2( rtems_vector_number vector )
	775	{
	776	if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
	777	printf("In commutation_isr2 *** Error sending event to DUMB\n");
	778	}
	779	}
	780
	781	//****************
	782	// OTHER FUNCTIONS
	783	void updateLFRCurrentMode()
	784	{
	785	/** This function updates the value of the global variable lfrCurrentMode.
	786	*
	787	* lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
	788	*
	789	*/
	790	// update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
	791	lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
	792	}
	793

FSW-qt/Makefile +2 -2

              #############################################################################
              # Makefile for building: bin/fsw
-             # Generated by qmake (2.01a) (Qt 4.8.5) on: Tue Mar 11 15:58:37 2014
+             # Generated by qmake (2.01a) (Qt 4.8.5) on: Tue Mar 25 09:47:02 2014
              # Project:  fsw-qt.pro
              # Template: app
              # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
              #############################################################################
              ####### Compiler, tools and options
              CC            = sparc-rtems-gcc
              CXX           = sparc-rtems-g++
-             DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=3 -DPRINT_MESSAGES_ON_CONSOLE -DDEBUG_MESSAGES
+             DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=3 -DVHDL_DEV -DPRINT_MESSAGES_ON_CONSOLE
              CFLAGS        = -pipe -O3 -Wall $(DEFINES)
              CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
              INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../../LFR_basic-parameters
              LINK          = sparc-rtems-g++
              LFLAGS        =
              LIBS          = $(SUBLIBS)
              AR            = sparc-rtems-ar rcs
              RANLIB        =
              QMAKE         = /usr/bin/qmake-qt4
              TAR           = tar -cf
              COMPRESS      = gzip -9f
              COPY          = cp -f
              SED           = sed
              COPY_FILE     = $(COPY)
              COPY_DIR      = $(COPY) -r
              STRIP         = sparc-rtems-strip
              INSTALL_FILE  = install -m 644 -p
              INSTALL_DIR   = $(COPY_DIR)
              INSTALL_PROGRAM = install -m 755 -p
              DEL_FILE      = rm -f
              SYMLINK       = ln -f -s
              DEL_DIR       = rmdir
              MOVE          = mv -f
              CHK_DIR_EXISTS= test -d
              MKDIR         = mkdir -p
              ####### Output directory
              OBJECTS_DIR   = obj/
              ####### Files
              SOURCES       = ../src/wf_handler.c \
              		../src/tc_handler.c \
              		../src/fsw_processing.c \
              		../src/fsw_misc.c \
              		../src/fsw_init.c \
              		../src/fsw_globals.c \
              		../src/fsw_spacewire.c \
              		../src/tc_load_dump_parameters.c \
              		../src/tm_lfr_tc_exe.c \
              		../src/tc_acceptance.c \
              		../../LFR_basic-parameters/basic_parameters.c
              OBJECTS       = obj/wf_handler.o \
              		obj/tc_handler.o \
              		obj/fsw_processing.o \
              		obj/fsw_misc.o \
              		obj/fsw_init.o \
              		obj/fsw_globals.o \
              		obj/fsw_spacewire.o \
              		obj/tc_load_dump_parameters.o \
              		obj/tm_lfr_tc_exe.o \
              		obj/tc_acceptance.o \
              		obj/basic_parameters.o
              DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
              		/usr/lib64/qt4/mkspecs/common/linux.conf \
              		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
              		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
              		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
              		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
              		/usr/lib64/qt4/mkspecs/qconfig.pri \
              		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
              		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
              		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
              		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
              		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
              		sparc.pri \
              		/usr/lib64/qt4/mkspecs/features/release.prf \
              		/usr/lib64/qt4/mkspecs/features/default_post.prf \
              		/usr/lib64/qt4/mkspecs/features/shared.prf \
              		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
              		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
              		/usr/lib64/qt4/mkspecs/features/resources.prf \
              		/usr/lib64/qt4/mkspecs/features/uic.prf \
              		/usr/lib64/qt4/mkspecs/features/yacc.prf \
              		/usr/lib64/qt4/mkspecs/features/lex.prf \
              		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
              		fsw-qt.pro
              QMAKE_TARGET  = fsw
              DESTDIR       = bin/
              TARGET        = bin/fsw
              first: all
              ####### Implicit rules
              .SUFFIXES: .o .c .cpp .cc .cxx .C
              .cpp.o:
              	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
              .cc.o:
              	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
              .cxx.o:
              	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
              .C.o:
              	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
              .c.o:
              	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
              ####### Build rules
              all: Makefile $(TARGET)
              $(TARGET):  $(OBJECTS)
              	@$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
              	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
              Makefile: fsw-qt.pro  /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
              		/usr/lib64/qt4/mkspecs/common/linux.conf \
              		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
              		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
              		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
              		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
              		/usr/lib64/qt4/mkspecs/qconfig.pri \
              		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
              		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
              		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
              		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
              		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
              		sparc.pri \
              		/usr/lib64/qt4/mkspecs/features/release.prf \
              		/usr/lib64/qt4/mkspecs/features/default_post.prf \
              		/usr/lib64/qt4/mkspecs/features/shared.prf \
              		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
              		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
              		/usr/lib64/qt4/mkspecs/features/resources.prf \
              		/usr/lib64/qt4/mkspecs/features/uic.prf \
              		/usr/lib64/qt4/mkspecs/features/yacc.prf \
              		/usr/lib64/qt4/mkspecs/features/lex.prf \
              		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
              	$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
              /usr/lib64/qt4/mkspecs/common/unix.conf:
              /usr/lib64/qt4/mkspecs/common/linux.conf:
              /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
              /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
              /usr/lib64/qt4/mkspecs/common/g++-base.conf:
              /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
              /usr/lib64/qt4/mkspecs/qconfig.pri:
              /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
              /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
              /usr/lib64/qt4/mkspecs/features/qt_config.prf:
              /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
              /usr/lib64/qt4/mkspecs/features/default_pre.prf:
              sparc.pri:
              /usr/lib64/qt4/mkspecs/features/release.prf:
              /usr/lib64/qt4/mkspecs/features/default_post.prf:
              /usr/lib64/qt4/mkspecs/features/shared.prf:
              /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
              /usr/lib64/qt4/mkspecs/features/warn_on.prf:
              /usr/lib64/qt4/mkspecs/features/resources.prf:
              /usr/lib64/qt4/mkspecs/features/uic.prf:
              /usr/lib64/qt4/mkspecs/features/yacc.prf:
              /usr/lib64/qt4/mkspecs/features/lex.prf:
              /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
              qmake:  FORCE
              	@$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
              dist:
              	@$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
              	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw1.0.0/ && (cd `dirname obj/fsw1.0.0` && $(TAR) fsw1.0.0.tar fsw1.0.0 && $(COMPRESS) fsw1.0.0.tar) && $(MOVE) `dirname obj/fsw1.0.0`/fsw1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw1.0.0
              clean:compiler_clean
              	-$(DEL_FILE) $(OBJECTS)
              	-$(DEL_FILE) *~ core *.core
              ####### Sub-libraries
              distclean: clean
              	-$(DEL_FILE) $(TARGET)
              	-$(DEL_FILE) Makefile
              grmon:
              	cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
              check: first
              compiler_rcc_make_all:
              compiler_rcc_clean:
              compiler_uic_make_all:
              compiler_uic_clean:
              compiler_image_collection_make_all: qmake_image_collection.cpp
              compiler_image_collection_clean:
              	-$(DEL_FILE) qmake_image_collection.cpp
              compiler_yacc_decl_make_all:
              compiler_yacc_decl_clean:
              compiler_yacc_impl_make_all:
              compiler_yacc_impl_clean:
              compiler_lex_make_all:
              compiler_lex_clean:
              compiler_clean:
              ####### Compile
              obj/wf_handler.o: ../src/wf_handler.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
              obj/tc_handler.o: ../src/tc_handler.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
              obj/fsw_processing.o: ../src/fsw_processing.c ../src/fsw_processing_globals.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
              obj/fsw_misc.o: ../src/fsw_misc.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
              obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
              obj/fsw_globals.o: ../src/fsw_globals.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
              obj/fsw_spacewire.o: ../src/fsw_spacewire.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
              obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
              obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
              obj/tc_acceptance.o: ../src/tc_acceptance.c
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
              obj/basic_parameters.o: ../../LFR_basic-parameters/basic_parameters.c ../../LFR_basic-parameters/basic_parameters.h
              	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/basic_parameters.o ../../LFR_basic-parameters/basic_parameters.c
              ####### Install
              install:   FORCE
              uninstall:   FORCE
              FORCE:

FSW-qt/bin/LEON3_RELOAD_SPW.py +3 0

              #!/usr/bin/lppmon -e
+             RMAPPlugin0.setValueSpaceWireLinkNumber( 1 )
+             RMAPPlugin0.setValueTargetLogicalAddress( 254 )
              dsu3plugin0.openFile("/opt/DEV_PLE/FSW-qt/bin/fsw")
              dsu3plugin0.loadFile()
              dsu3plugin0.run()

FSW-qt/fsw-qt.pro +6 -2

              TEMPLATE = app
              # CONFIG += console v8 sim
-             # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev
-             CONFIG += console verbose debug_messages
+             # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
+             CONFIG += console verbose vhdl_dev
              CONFIG -= qt
              include(./sparc.pri)
              # flight software version
              SWVERSION=-1-0
              DEFINES += SW_VERSION_N1=1 # major
              DEFINES += SW_VERSION_N2=0 # minor
              DEFINES += SW_VERSION_N3=0 # patch
              DEFINES += SW_VERSION_N4=3 # internal
+             contains( CONFIG, debug_tch ) {
+                 DEFINES += DEBUG_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
              }
              #doxygen.target = doxygen
              #doxygen.commands = doxygen ../doc/Doxyfile
              #QMAKE_EXTRA_TARGETS += doxygen
              TARGET = fsw
              INCLUDEPATH += \
                  ../src \
                  ../header \
                  ../../LFR_basic-parameters
              SOURCES += \
                  ../src/wf_handler.c \
                  ../src/tc_handler.c \
                  ../src/fsw_processing.c \
                  ../src/fsw_misc.c \
                  ../src/fsw_init.c \
                  ../src/fsw_globals.c \
                  ../src/fsw_spacewire.c \
                  ../src/tc_load_dump_parameters.c \
                  ../src/tm_lfr_tc_exe.c \
                  ../src/tc_acceptance.c \
                  ../../LFR_basic-parameters/basic_parameters.c
              HEADERS += \
                  ../header/wf_handler.h \
                  ../header/tc_handler.h \
                  ../header/grlib_regs.h \
                  ../header/fsw_processing.h \
                  ../header/fsw_params.h \
                  ../header/fsw_misc.h \
                  ../header/fsw_init.h \
                  ../header/ccsds_types.h \
                  ../header/fsw_params_processing.h \
                  ../header/fsw_spacewire.h \
                  ../header/tc_load_dump_parameters.h \
                  ../header/tm_lfr_tc_exe.h \
                  ../header/tc_acceptance.h \
                  ../header/fsw_params_nb_bytes.h \
                  ../../LFR_basic-parameters/basic_parameters.h

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

              <?xml version="1.0" encoding="UTF-8"?>
              <!DOCTYPE QtCreatorProject>
-             <!-- Written by QtCreator 3.0.1, 2014-03-13T15:53:26. -->
+             <!-- Written by QtCreator 3.0.1, 2014-03-25T08:40:48. -->
              <qtcreator>
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                <value type="int">1</value>
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                 <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
                 <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
                  <value type="QString" key="language">Cpp</value>
                  <valuemap type="QVariantMap" key="value">
                   <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
                  </valuemap>
                 </valuemap>
                 <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
                  <value type="QString" key="language">QmlJS</value>
                  <valuemap type="QVariantMap" key="value">
                   <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
                  </valuemap>
                 </valuemap>
                 <value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
                 <value type="QByteArray" key="EditorConfiguration.Codec">UTF-8</value>
                 <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
                 <value type="int" key="EditorConfiguration.IndentSize">4</value>
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                 <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
                 <value type="int" key="EditorConfiguration.PaddingMode">1</value>
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                 <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
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                 <value type="int" key="EditorConfiguration.TabSize">8</value>
                 <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
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                 <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
                 <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
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header/ccsds_types.h +1 0

              #ifndef CCSDS_TYPES_H_INCLUDED
              #define CCSDS_TYPES_H_INCLUDED
              #include "fsw_params_processing.h"
              #define CCSDS_PROTOCOLE_EXTRA_BYTES 4
              #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
              #define CCSDS_TM_PKT_MAX_SIZE 4412
              #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
              #define CCSDS_TC_PKT_MAX_SIZE 256
              #define CCSDS_TC_PKT_MIN_SIZE 16
              #define CCSDS_TC_TM_PACKET_OFFSET 7
              #define CCSDS_PROCESS_ID 76
              #define CCSDS_PACKET_CATEGORY 12
              #define CCSDS_NODE_ADDRESS 0xfe
              #define CCSDS_USER_APP 0x00
              #define DEFAULT_SPARE1_PUSVERSION_SPARE2 0x10
              #define DEFAULT_RESERVED 0x00
              #define DEFAULT_HKBIA 0x1e  // 0001 1110
              // PACKET ID
              #define TM_PACKET_ID_TC_EXE                     0x0cc1 // PID 76 CAT 1
              #define TM_PACKET_ID_HK                         0x0cc4 // PID 76 CAT 4
              #define TM_PACKET_ID_PARAMETER_DUMP             0x0cc9 // PID 76 CAT 9
              #define TM_PACKET_ID_SCIENCE_NORMAL_BURST       0x0ccc // PID 76 CAT 12
              #define TM_PACKET_ID_SCIENCE_SBM1_SBM2          0x0cfc // PID 79 CAT 12
              #define TM_PACKET_PID_DEFAULT                   76
              #define TM_PACKET_PID_BURST_SBM1_SBM2           79
              #define TM_PACKET_CAT_TC_EXE                    1
              #define TM_PACKET_CAT_HK                        4
              #define TM_PACKET_CAT_PARAMETER_DUMP            9
              #define TM_PACKET_CAT_SCIENCE                   12
+             #define TC_PACKET_CAT                           12
              // PACKET SEQUENCE CONTROL
              #define TM_PACKET_SEQ_CTRL_CONTINUATION 0x00    // [0000 0000]
              #define TM_PACKET_SEQ_CTRL_FIRST        0x40    // [0100 0000]
              #define TM_PACKET_SEQ_CTRL_LAST         0x80    // [1000 0000]
              #define TM_PACKET_SEQ_CTRL_STANDALONE   0xc0    // [1100 0000]
              #define TM_PACKET_SEQ_CNT_DEFAULT       0x00    // [0000 0000]
              // DESTINATION ID
              #define TM_DESTINATION_ID_GROUND 0
              #define TM_DESTINATION_ID_MISSION_TIMELINE 110
              #define TM_DESTINATION_ID_TC_SEQUENCES 111
              #define TM_DESTINATION_ID_RECOVERY_ACTION_COMMAND 112
              #define TM_DESTINATION_ID_BACKUP_MISSION_TIMELINE 113
              #define TM_DESTINATION_ID_DIRECT_CMD 120
              #define TM_DESTINATION_ID_SPARE_GRD_SRC1 121
              #define TM_DESTINATION_ID_SPARE_GRD_SRC2 122
              #define TM_DESTINATION_ID_OBCP 15
              #define TM_DESTINATION_ID_SYSTEM_CONTROL 14
              #define TM_DESTINATION_ID_AOCS 11
              #define CCSDS_DESTINATION_ID 0x01
              #define CCSDS_PROTOCOLE_ID 0x02
              #define CCSDS_RESERVED 0x00
              #define CCSDS_USER_APP 0x00
              #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
              #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
              #define SIZE_HK_PARAMETERS 112
              // TC TYPES
              #define TC_TYPE_GEN 181
              #define TC_TYPE_TIME 9
              // TC SUBTYPES
              #define TC_SUBTYPE_RESET 1
              #define TC_SUBTYPE_LOAD_COMM 11
              #define TC_SUBTYPE_LOAD_NORM 13
              #define TC_SUBTYPE_LOAD_BURST 19
              #define TC_SUBTYPE_LOAD_SBM1 25
              #define TC_SUBTYPE_LOAD_SBM2 27
              #define TC_SUBTYPE_DUMP 31
              #define TC_SUBTYPE_ENTER 41
              #define TC_SUBTYPE_UPDT_INFO 51
              #define TC_SUBTYPE_EN_CAL 61
              #define TC_SUBTYPE_DIS_CAL 63
              #define TC_SUBTYPE_UPDT_TIME 129
              // TC LEN
              #define TC_LEN_RESET 12
              #define TC_LEN_LOAD_COMM 14
              #define TC_LEN_LOAD_NORM 22
              #define TC_LEN_LOAD_BURST 14
              #define TC_LEN_LOAD_SBM1 14
              #define TC_LEN_LOAD_SBM2 14
              #define TC_LEN_DUMP 12
              #define TC_LEN_ENTER 20
              #define TC_LEN_UPDT_INFO 46
              #define TC_LEN_EN_CAL 12
              #define TC_LEN_DIS_CAL 12
              #define TC_LEN_UPDT_TIME 18
              // TM TYPES
              #define TM_TYPE_TC_EXE 1
              #define TM_TYPE_HK 3
              #define TM_TYPE_PARAMETER_DUMP 3
              #define TM_TYPE_LFR_SCIENCE 21
              // TM SUBTYPES
              #define TM_SUBTYPE_EXE_OK 7
              #define TM_SUBTYPE_EXE_NOK 8
              #define TM_SUBTYPE_HK 25
              #define TM_SUBTYPE_PARAMETER_DUMP 25
              #define TM_SUBTYPE_SCIENCE 3
              #define TM_SUBTYPE_LFR_SCIENCE 3
              // FAILURE CODES
              #define ILLEGAL_APID        0
              #define WRONG_LEN_PKT       1
              #define INCOR_CHECKSUM      2
              #define ILL_TYPE            3
              #define ILL_SUBTYPE         4
              #define WRONG_APP_DATA      5       // 0x00 0x05
              #define TC_NOT_EXE          42000   // 0xa4 0x10
              #define WRONG_SRC_ID        42001   // 0xa4 0x11
              #define FUNCT_NOT_IMPL      42002   // 0xa4 0x12
              #define FAIL_DETECTED       42003   // 0xa4 0x13
              #define NOT_ALLOWED         42004   // 0xa4 0x14
              #define CORRUPTED           42005   // 0xa4 0x15
              #define CCSDS_TM_VALID      7
              // TC SID
              #define SID_TC_GROUND                   0
              #define SID_TC_MISSION_TIMELINE         110
              #define SID_TC_TC_SEQUENCES             111
              #define SID_TC_RECOVERY_ACTION_CMD      112
              #define SID_TC_BACKUP_MISSION_TIMELINE  113
              #define SID_TC_DIRECT_CMD               120
              #define SID_TC_SPARE_GRD_SRC1           121
              #define SID_TC_SPARE_GRD_SRC2           122
              #define SID_TC_OBCP                     15
              #define SID_TC_SYSTEM_CONTROL           14
              #define SID_TC_AOCS                     11
              #define SID_TC_RPW_INTERNAL             254
              enum apid_destid{
                  GROUND,
                  MISSION_TIMELINE,
                  TC_SEQUENCES,
                  RECOVERY_ACTION_CMD,
                  BACKUP_MISSION_TIMELINE,
                  DIRECT_CMD,
                  SPARE_GRD_SRC1,
                  SPARE_GRD_SRC2,
                  OBCP,
                  SYSTEM_CONTROL,
                  AOCS,
                  RPW_INTERNAL
              };
              // SEQUENCE COUNTERS
              #define SEQ_CNT_MAX 16383
              #define SEQ_CNT_NB_DEST_ID 12
              // TM SID
              #define SID_HK 1
              #define SID_PARAMETER_DUMP 10
              #define SID_NORM_SWF_F0 3
              #define SID_NORM_SWF_F1 4
              #define SID_NORM_SWF_F2 5
              #define SID_NORM_CWF_F3 1
              #define SID_BURST_CWF_F2 2
              #define SID_SBM1_CWF_F1 24
              #define SID_SBM2_CWF_F2 25
              #define SID_NORM_ASM_F0 11
              #define SID_NORM_ASM_F1 12
              #define SID_NORM_ASM_F2 13
              #define SID_NORM_BP1_F0 14
              #define SID_NORM_BP1_F1 15
              #define SID_NORM_BP1_F2 16
              #define SID_NORM_BP2_F0 19
              #define SID_NORM_BP2_F1 20
              #define SID_NORM_BP2_F2 21
              #define SID_BURST_BP1_F0 17
              #define SID_BURST_BP2_F0 22
              #define SID_BURST_BP1_F1 18
              #define SID_BURST_BP2_F1 23
              #define SID_SBM1_BP1_F0 28
              #define SID_SBM1_BP2_F0 31
              #define SID_SBM2_BP1_F0 29
              #define SID_SBM2_BP2_F0 32
              #define SID_SBM2_BP1_F1 30
              #define SID_SBM2_BP2_F1 33
              #define SID_NORM_CWF_LONG_F3 34
              // LENGTH (BYTES)
              #define LENGTH_TM_LFR_TC_EXE_MAX 32
              #define LENGTH_TM_LFR_HK 126
              // HEADER_LENGTH
              #define TM_HEADER_LEN 16
              #define HEADER_LENGTH_TM_LFR_SCIENCE_ASM 28
              // PACKET_LENGTH
              #define PACKET_LENGTH_TC_EXE_SUCCESS            (20 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_TC_EXE_INCONSISTENT       (26 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     (26 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED    (24 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_TC_EXE_ERROR              (24 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_TC_EXE_CORRUPTED          (32 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_HK                        (124 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_PARAMETER_DUMP            (36 - CCSDS_TC_TM_PACKET_OFFSET)
              #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0     2221  // 44 * 25 * 2 + 28 - 7
              #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1     2621  // 52 * 25 * 2 + 28 - 7
              #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2     2421  // 48 * 25 * 2 + 28 - 7
              #define SPARE1_PUSVERSION_SPARE2 0x10
              // R1
              #define TM_LEN_SCI_SWF_340          4101    // 340 * 12 + 10 + 12 - 1
              #define TM_LEN_SCI_SWF_8            117     //   8 * 12 + 10 + 12 - 1
              #define TM_LEN_SCI_CWF_340          4099    // 340 * 12 + 10 + 10 - 1
              #define TM_LEN_SCI_CWF_8            115     //   8 * 12 + 10 + 10 - 1
              #define TM_LEN_SCI_CWF3_LIGHT_340   2059    // 340 * 6  + 10 + 10 - 1
              #define TM_LEN_SCI_CWF3_LIGHT_8     67      //   8 * 6  + 10 + 10 - 1
              // R2
              #define TM_LEN_SCI_SWF_304          3669    // 304 * 12 + 10 + 12 - 1
              #define TM_LEN_SCI_SWF_224          2709    // 224 * 12 + 10 + 12 - 1
              #define TM_LEN_SCI_CWF_336          4051    // 336 * 12 + 10 + 10 - 1
              #define TM_LEN_SCI_CWF_672          4051    // 672 * 6 + 10 + 10 - 1
              //
              #define DEFAULT_PKTCNT      0x07
              #define BLK_NR_304          0x0130
              #define BLK_NR_224          0x00e0
              #define BLK_NR_CWF          0x0150  // 336
              #define BLK_NR_CWF_SHORT_F3 0x02a0  // 672
              enum TM_TYPE{
                  TM_LFR_TC_EXE_OK,
                  TM_LFR_TC_EXE_ERR,
                  TM_LFR_HK,
                  TM_LFR_SCI,
                  TM_LFR_SCI_SBM,
                  TM_LFR_PAR_DUMP
              };
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  // PACKET HEADER
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  //
                  unsigned char telecommand_pkt_id[2];
                  unsigned char pkt_seq_control[2];
              } Packet_TM_LFR_TC_EXE_SUCCESS_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  // PACKET HEADER
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  //
                  unsigned char tc_failure_code[2];
                  unsigned char telecommand_pkt_id[2];
                  unsigned char pkt_seq_control[2];
                  unsigned char tc_service;
                  unsigned char tc_subtype;
                  unsigned char byte_position;
                  unsigned char rcv_value;
              } Packet_TM_LFR_TC_EXE_INCONSISTENT_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  // PACKET HEADER
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  //
                  unsigned char tc_failure_code[2];
                  unsigned char telecommand_pkt_id[2];
                  unsigned char pkt_seq_control[2];
                  unsigned char tc_service;
                  unsigned char tc_subtype;
                  unsigned char lfr_status_word[2];
              } Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  // PACKET HEADER
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  //
                  unsigned char tc_failure_code[2];
                  unsigned char telecommand_pkt_id[2];
                  unsigned char pkt_seq_control[2];
                  unsigned char tc_service;
                  unsigned char tc_subtype;
              } Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  // PACKET HEADER
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  //
                  unsigned char tc_failure_code[2];
                  unsigned char telecommand_pkt_id[2];
                  unsigned char pkt_seq_control[2];
                  unsigned char tc_service;
                  unsigned char tc_subtype;
              } Packet_TM_LFR_TC_EXE_ERROR_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  // PACKET HEADER
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  //
                  unsigned char tc_failure_code[2];
                  unsigned char telecommand_pkt_id[2];
                  unsigned char pkt_seq_control[2];
                  unsigned char tc_service;
                  unsigned char tc_subtype;
                  unsigned char pkt_len_rcv_value[2];
                  unsigned char pkt_datafieldsize_cnt[2];
                  unsigned char rcv_crc[2];
                  unsigned char computed_crc[2];
              } Packet_TM_LFR_TC_EXE_CORRUPTED_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  // AUXILIARY HEADER
                  unsigned char sid;
                  unsigned char hkBIA;
                  unsigned char pktCnt;
                  unsigned char pktNr;
                  unsigned char acquisitionTime[6];
                  unsigned char blkNr[2];
              } Header_TM_LFR_SCIENCE_SWF_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  // AUXILIARY DATA HEADER
                  unsigned char sid;
                  unsigned char hkBIA;
                  unsigned char acquisitionTime[6];
                  unsigned char blkNr[2];
              } Header_TM_LFR_SCIENCE_CWF_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  // AUXILIARY HEADER
                  unsigned char sid;
                  unsigned char biaStatusInfo;
                  unsigned char pa_lfr_pkt_cnt_asm;
                  unsigned char pa_lfr_pkt_nr_asm;
                  unsigned char acquisitionTime[6];
                  unsigned char pa_lfr_asm_blk_nr[2];
              } Header_TM_LFR_SCIENCE_ASM_t;
              typedef struct {
                  //targetLogicalAddress is removed by the grspw module
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char headerFlag_pusVersion_Ack;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char sourceID;
                  unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
              } ccsdsTelecommandPacket_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  unsigned char sid;
                  //**************
                  // HK PARAMETERS
                  unsigned char lfr_status_word[2];
                  unsigned char lfr_sw_version[4];
                  unsigned char lfr_fpga_version[3];
                  // ressource statistics
                  unsigned char hk_lfr_cpu_load;
                  unsigned char hk_lfr_load_max;
                  unsigned char hk_lfr_load_aver;
                  // tc statistics
                  unsigned char hk_lfr_update_info_tc_cnt[2];
                  unsigned char hk_lfr_update_time_tc_cnt[2];
                  unsigned char hk_lfr_exe_tc_cnt[2];
                  unsigned char hk_lfr_rej_tc_cnt[2];
                  unsigned char hk_lfr_last_exe_tc_id[2];
                  unsigned char hk_lfr_last_exe_tc_type[2];
                  unsigned char hk_lfr_last_exe_tc_subtype[2];
                  unsigned char hk_lfr_last_exe_tc_time[6];
                  unsigned char hk_lfr_last_rej_tc_id[2];
                  unsigned char hk_lfr_last_rej_tc_type[2];
                  unsigned char hk_lfr_last_rej_tc_subtype[2];
                  unsigned char hk_lfr_last_rej_tc_time[6];
                  // anomaly statistics
                  unsigned char hk_lfr_le_cnt[2];
                  unsigned char hk_lfr_me_cnt[2];
                  unsigned char hk_lfr_he_cnt[2];
                  unsigned char hk_lfr_last_er_rid[2];
                  unsigned char hk_lfr_last_er_code;
                  unsigned char hk_lfr_last_er_time[6];
                  // vhdl_blk_status
                  unsigned char hk_lfr_vhdl_aa_sm;
                  unsigned char hk_lfr_vhdl_fft_sr;
                  unsigned char hk_lfr_vhdl_cic_hk;
                  unsigned char hk_lfr_vhdl_iir_cal;
                  // spacewire_if_statistics
                  unsigned char hk_lfr_dpu_spw_pkt_rcv_cnt[2];
                  unsigned char hk_lfr_dpu_spw_pkt_sent_cnt[2];
                  unsigned char hk_lfr_dpu_spw_tick_out_cnt;
                  unsigned char hk_lfr_dpu_spw_last_timc;
                  // ahb error statistics
                  unsigned int hk_lfr_last_fail_addr;
                  // temperatures
                  unsigned char hk_lfr_temp_scm[2];
                  unsigned char hk_lfr_temp_pcb[2];
                  unsigned char hk_lfr_temp_fpga[2];
                  // spacecraft potential
                  unsigned char hk_lfr_sc_v_f3[2];
                  unsigned char hk_lfr_sc_e1_f3[2];
                  unsigned char hk_lfr_sc_e2_f3[2];
                  // error counters
                  unsigned char hk_lfr_dpu_spw_parity;
                  unsigned char hk_lfr_dpu_spw_disconnect;
                  unsigned char hk_lfr_dpu_spw_escape;
                  unsigned char hk_lfr_dpu_spw_credit;
                  unsigned char hk_lfr_dpu_spw_write_sync;
                  unsigned char hk_lfr_dpu_spw_rx_ahb;
                  unsigned char hk_lfr_dpu_spw_tx_ahb;
                  unsigned char hk_lfr_dpu_spw_early_eop;
                  unsigned char hk_lfr_dpu_spw_invalid_addr;
                  unsigned char hk_lfr_dpu_spw_eep;
                  unsigned char hk_lfr_dpu_spw_rx_too_big;
                  // timecode
                  unsigned char hk_lfr_timecode_erroneous;
                  unsigned char hk_lfr_timecode_missing;
                  unsigned char hk_lfr_timecode_invalid;
                  // time
                  unsigned char hk_lfr_time_timecode_it;
                  unsigned char hk_lfr_time_not_synchro;
                  unsigned char hk_lfr_time_timecode_ctr;
                  // hk_lfr_buffer_dpu_
                  unsigned char hk_lfr_buffer_dpu_tc_fifo;
                  unsigned char hk_lfr_buffer_dpu_tm_fifo;
                  // hk_lfr_ahb_
                  unsigned char hk_lfr_ahb_correctable;
                  unsigned char hk_lfr_ahb_uncorrectable;
                  // spare
                  unsigned char parameters_spare;
              } Packet_TM_LFR_HK_t;
              typedef struct {
                  unsigned char targetLogicalAddress;
                  unsigned char protocolIdentifier;
                  unsigned char reserved;
                  unsigned char userApplication;
                  unsigned char packetID[2];
                  unsigned char packetSequenceControl[2];
                  unsigned char packetLength[2];
                  // DATA FIELD HEADER
                  unsigned char spare1_pusVersion_spare2;
                  unsigned char serviceType;
                  unsigned char serviceSubType;
                  unsigned char destinationID;
                  unsigned char time[6];
                  unsigned char sid;
                  //******************
                  // COMMON PARAMETERS
                  unsigned char unused0;
                  unsigned char bw_sp0_sp1_r0_r1;
                  //******************
                  // NORMAL PARAMETERS
                  unsigned char sy_lfr_n_swf_l[2];
                  unsigned char sy_lfr_n_swf_p[2];
                  unsigned char sy_lfr_n_asm_p[2];
                  unsigned char sy_lfr_n_bp_p0;
                  unsigned char sy_lfr_n_bp_p1;
                  unsigned char sy_lfr_n_cwf_long_f3;
                  unsigned char lfr_normal_parameters_spare;
                  //*****************
                  // BURST PARAMETERS
                  unsigned char sy_lfr_b_bp_p0;
                  unsigned char sy_lfr_b_bp_p1;
                  //****************
                  // SBM1 PARAMETERS
                  unsigned char sy_lfr_s1_bp_p0;
                  unsigned char sy_lfr_s1_bp_p1;
                  //****************
                  // SBM2 PARAMETERS
                  unsigned char sy_lfr_s2_bp_p0;
                  unsigned char sy_lfr_s2_bp_p1;
                  // SPARE
                  unsigned char source_data_spare;
              } Packet_TM_LFR_PARAMETER_DUMP_t;
              #endif // CCSDS_TYPES_H_INCLUDED

header/fsw_params.h +1 0

              #ifndef FSW_PARAMS_H_INCLUDED
              #define FSW_PARAMS_H_INCLUDED
              #include "grlib_regs.h"
              #include "fsw_params_processing.h"
              #include "fsw_params_nb_bytes.h"
              #include "tm_byte_positions.h"
              #include "ccsds_types.h"
              #define GRSPW_DEVICE_NAME "/dev/grspw0"
              #define UART_DEVICE_NAME "/dev/console"
              typedef struct ring_node
              {
                  struct ring_node *previous;
                  int buffer_address;
                  struct ring_node *next;
                  unsigned int status;
              } ring_node;
              //************************
              // flight software version
              // this parameters is handled by the Qt project options
              #define NB_PACKETS_PER_GROUP_OF_CWF         8   // 8 packets containing 336 blk
              #define NB_PACKETS_PER_GROUP_OF_CWF_LIGHT   4   // 4 packets containing 672 blk
              #define NB_SAMPLES_PER_SNAPSHOT 2688    // 336 * 8 = 672 * 4 = 2688
              #define TIME_OFFSET 2
              #define TIME_OFFSET_IN_BYTES 8
              #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
              #define NB_BYTES_SWF_BLK (2 * 6)
              #define NB_WORDS_SWF_BLK 3
              #define NB_BYTES_CWF3_LIGHT_BLK 6
              #define WFRM_INDEX_OF_LAST_PACKET 6  // waveforms are transmitted in groups of 2048 blocks, 6 packets of 340 and 1 of 8
              #define NB_RING_NODES_F0 3      // AT LEAST 3
              #define NB_RING_NODES_F1 5      // AT LEAST 3
              #define NB_RING_NODES_F2 5      // AT LEAST 3
              //**********
              // LFR MODES
              #define LFR_MODE_STANDBY    0
              #define LFR_MODE_NORMAL     1
              #define LFR_MODE_BURST      2
              #define LFR_MODE_SBM1       3
              #define LFR_MODE_SBM2       4
              #define TDS_MODE_LFM        5
              #define TDS_MODE_STANDBY    0
              #define TDS_MODE_NORMAL     1
              #define TDS_MODE_BURST      2
              #define TDS_MODE_SBM1       3
              #define TDS_MODE_SBM2       4
              #define THR_MODE_STANDBY    0
              #define THR_MODE_NORMAL      1
              #define THR_MODE_BURST      2
              #define RTEMS_EVENT_MODE_STANDBY        RTEMS_EVENT_0
              #define RTEMS_EVENT_MODE_NORMAL         RTEMS_EVENT_1
              #define RTEMS_EVENT_MODE_BURST          RTEMS_EVENT_2
              #define RTEMS_EVENT_MODE_SBM1           RTEMS_EVENT_3
              #define RTEMS_EVENT_MODE_SBM2           RTEMS_EVENT_4
              #define RTEMS_EVENT_MODE_SBM2_WFRM      RTEMS_EVENT_5
              #define RTEMS_EVENT_MODE_NORMAL_SWF_F0  RTEMS_EVENT_6
              #define RTEMS_EVENT_MODE_NORMAL_SWF_F1  RTEMS_EVENT_7
              #define RTEMS_EVENT_MODE_NORMAL_SWF_F2  RTEMS_EVENT_8
              //****************************
              // LFR DEFAULT MODE PARAMETERS
              // COMMON
              #define DEFAULT_SY_LFR_COMMON0 0x00
              #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
              // NORM
              #define SY_LFR_N_SWF_L 2048 // nb sample
              #define SY_LFR_N_SWF_P 300  // sec
              #define SY_LFR_N_ASM_P 3600 // sec
              #define SY_LFR_N_BP_P0 4    // sec
              #define SY_LFR_N_BP_P1 20   // sec
              #define SY_LFR_N_CWF_LONG_F3 0      // 0 => production of light continuous waveforms at f3
              #define MIN_DELTA_SNAPSHOT 16       // sec
              // BURST
              #define DEFAULT_SY_LFR_B_BP_P0 1    // sec
              #define DEFAULT_SY_LFR_B_BP_P1 5    // sec
              // SBM1
              #define DEFAULT_SY_LFR_S1_BP_P0 1   // sec
              #define DEFAULT_SY_LFR_S1_BP_P1 1   // sec
              // SBM2
              #define DEFAULT_SY_LFR_S2_BP_P0 1   // sec
              #define DEFAULT_SY_LFR_S2_BP_P1 5   // sec
              // ADDITIONAL PARAMETERS
              #define TIME_BETWEEN_TWO_SWF_PACKETS 30     // nb x 10 ms => 300 ms
              #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000  // nb x 10 ms => 10 s
              // STATUS WORD
              #define DEFAULT_STATUS_WORD_BYTE0 0x0d  // [0000] [1] [101] mode 4 bits / SPW enabled 1 bit / state is run 3 bits
              #define DEFAULT_STATUS_WORD_BYTE1 0x00
              //
              #define SY_LFR_DPU_CONNECT_TIMEOUT 100  // 100 * 10 ms = 1 s
              #define SY_LFR_DPU_CONNECT_ATTEMPT 3
              //****************************
              //*****************************
              // APB REGISTERS BASE ADDRESSES
              #define REGS_ADDR_APBUART           0x80000100
              #define REGS_ADDR_GPTIMER           0x80000300
              #define REGS_ADDR_GRSPW             0x80000500
              #define REGS_ADDR_TIME_MANAGEMENT   0x80000600
+             #define REGS_ADDR_GRGPIO            0x80000b00
              #ifdef VHDL_DEV
              #define REGS_ADDR_SPECTRAL_MATRIX   0x80000f00
              #define REGS_ADDR_WAVEFORM_PICKER   0x80000f40
              #else
              #define REGS_ADDR_SPECTRAL_MATRIX   0x80000f00
              #define REGS_ADDR_WAVEFORM_PICKER   0x80000f20
              #endif
              #define APBUART_CTRL_REG_MASK_DB    0xfffff7ff
              #define APBUART_CTRL_REG_MASK_TE    0x00000002
              #define APBUART_SCALER_RELOAD_VALUE 0x00000050      // 25 MHz => about 38400 (0x50)
              //**********
              // IRQ LINES
              #define IRQ_SM_SIMULATOR 9
              #define IRQ_SPARC_SM_SIMULATOR 0x19     // see sparcv8.pdf p.76 for interrupt levels
              #define IRQ_WAVEFORM_PICKER 14
              #define IRQ_SPARC_WAVEFORM_PICKER 0x1e  // see sparcv8.pdf p.76 for interrupt levels
              #define IRQ_SPECTRAL_MATRIX 6
              #define IRQ_SPARC_SPECTRAL_MATRIX 0x16  // see sparcv8.pdf p.76 for interrupt levels
              //*****
              // TIME
              #define CLKDIV_SM_SIMULATOR (10000 - 1)     // 10 ms
              #define TIMER_SM_SIMULATOR 1
              #define HK_PERIOD                           100     // 100 * 10ms => 1s
              #define SY_LFR_TIME_SYN_TIMEOUT_in_ms       2000
              #define SY_LFR_TIME_SYN_TIMEOUT_in_ticks    200     // 200 * 10 ms = 2 s
              //**********
              // LPP CODES
              #define LFR_SUCCESSFUL 0
              #define LFR_DEFAULT 1
              //******
              // RTEMS
              #define TASKID_RECV 1
              #define TASKID_ACTN 2
              #define TASKID_SPIQ 3
              #define TASKID_SMIQ 4
              #define TASKID_STAT 5
              #define TASKID_AVF0 6
              #define TASKID_SWBD 7
              #define TASKID_WFRM 8
              #define TASKID_DUMB 9
              #define TASKID_HOUS 10
              #define TASKID_MATR 11
              #define TASKID_CWF3 12
              #define TASKID_CWF2 13
              #define TASKID_CWF1 14
              #define TASKID_SEND 15
              #define TASKID_WTDG 16
              #define TASK_PRIORITY_SPIQ 5
              #define TASK_PRIORITY_SMIQ 10
              #define TASK_PRIORITY_WTDG 20
              #define TASK_PRIORITY_HOUS 30
              #define TASK_PRIORITY_CWF1 35   // CWF1 and CWF2 are never running together
              #define TASK_PRIORITY_CWF2 35   //
              #define TASK_PRIORITY_SWBD 37   // SWBD has a lower priority than WFRM, this is to extract the snapshot before sending it
              #define TASK_PRIORITY_WFRM 40
              #define TASK_PRIORITY_CWF3 40   // there is a printf in this function, be careful with its priority wrt CWF1
              #define TASK_PRIORITY_SEND 45
              #define TASK_PRIORITY_RECV 50
              #define TASK_PRIORITY_ACTN 50
              #define TASK_PRIORITY_AVF0 60
              #define TASK_PRIORITY_BPF0 60
              #define TASK_PRIORITY_MATR 100
              #define TASK_PRIORITY_STAT 200
              #define TASK_PRIORITY_DUMB 200
              #define ACTION_MSG_QUEUE_COUNT 10
              #define ACTION_MSG_PKTS_COUNT 50
              #define ACTION_MSG_PKTS_MAX_SIZE (PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES)
              #define ACTION_MSG_SPW_IOCTL_SEND_SIZE 24                   // hlen *hdr dlen *data sent options
              #define QUEUE_RECV 0
              #define QUEUE_SEND 1
              //*******
              // MACROS
              #ifdef PRINT_MESSAGES_ON_CONSOLE
              #define PRINTF(x) printf(x);
              #define PRINTF1(x,y) printf(x,y);
              #define PRINTF2(x,y,z) printf(x,y,z);
              #else
              #define PRINTF(x) ;
              #define PRINTF1(x,y) ;
              #define PRINTF2(x,y,z) ;
              #endif
              #ifdef BOOT_MESSAGES
              #define BOOT_PRINTF(x) printf(x);
              #define BOOT_PRINTF1(x,y) printf(x,y);
              #define BOOT_PRINTF2(x,y,z) printf(x,y,z);
              #else
              #define BOOT_PRINTF(x) ;
              #define BOOT_PRINTF1(x,y) ;
              #define BOOT_PRINTF2(x,y,z) ;
              #endif
              #ifdef DEBUG_MESSAGES
              #define DEBUG_PRINTF(x) printf(x);
              #define DEBUG_PRINTF1(x,y) printf(x,y);
              #define DEBUG_PRINTF2(x,y,z) printf(x,y,z);
              #else
              #define DEBUG_PRINTF(x) ;
              #define DEBUG_PRINTF1(x,y) ;
              #define DEBUG_PRINTF2(x,y,z) ;
              #endif
              #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
              struct param_local_str{
                  unsigned int local_sbm1_nb_cwf_sent;
                  unsigned int local_sbm1_nb_cwf_max;
                  unsigned int local_sbm2_nb_cwf_sent;
                  unsigned int local_sbm2_nb_cwf_max;
                  unsigned int local_nb_interrupt_f0_MAX;
              };
              #endif // FSW_PARAMS_H_INCLUDED

header/fsw_params_processing.h +3 0

              #ifndef FSW_PARAMS_PROCESSING_H
              #define FSW_PARAMS_PROCESSING_H
              #define NB_BINS_PER_SM          128
              #define NB_VALUES_PER_SM        25
              #define TOTAL_SIZE_SM           3200    // 25 * 128
+             #define TOTAL_SIZE_BP1_F0       99      // 11 * 9 = 99
+             #define TOTAL_SIZE_BP1_F1       117     // 13 * 9 = 117
+             #define TOTAL_SIZE_BP1_F2       108     // 12 * 9 = 108
              //
              #define NB_RING_NODES_ASM_F0 12 // AT LEAST 3
              #define NB_RING_NODES_ASM_F1 2  // AT LEAST 3
              #define NB_RING_NODES_ASM_F2 2  // AT LEAST 3
              //
              #define NB_BINS_PER_ASM_F0  88
              #define NB_BINS_PER_PKT_ASM_F0  44
              #define TOTAL_SIZE_ASM_F0_IN_BYTES   4400    // 25 * 88 * 2
              #define ASM_F0_INDICE_START 17      // 88 bins
              #define ASM_F0_INDICE_STOP  104     // 2 packets of 44 bins
              //
              #define NB_BINS_PER_ASM_F1  104
              #define NB_BINS_PER_PKT_ASM_F1  52
              #define TOTAL_SIZE_ASM_F1   2600    // 25 * 104
              #define ASM_F1_INDICE_START 6       // 104 bins
              #define ASM_F1_INDICE_STOP  109     // 2 packets of 52 bins
              //
              #define NB_BINS_PER_ASM_F2  96
              #define NB_BINS_PER_PKT_ASM_F2  48
              #define TOTAL_SIZE_ASM_F2   2400    // 25 * 96
              #define ASM_F2_INDICE_START 7       // 96 bins
              #define ASM_F2_INDICE_STOP  102     // 2 packets of 48 bins
              //
              #define NB_BINS_COMPRESSED_SM_F0 11
              #define NB_BINS_COMPRESSED_SM_F1 13
              #define NB_BINS_COMPRESSED_SM_F2 12
              //
              #define NB_BINS_TO_AVERAGE_ASM_F0 8
              #define NB_BINS_TO_AVERAGE_ASM_F1 8
              #define NB_BINS_TO_AVERAGE_ASM_F2 8
              //
              #define TOTAL_SIZE_COMPRESSED_ASM_F0 275 // 11 * 25
              #define TOTAL_SIZE_COMPRESSED_ASM_F1 325 // 13 * 25
              #define TOTAL_SIZE_COMPRESSED_ASM_F2 300 // 12 * 25
              #define NB_AVERAGE_NORMAL_f0 96*4
              #define NB_SM_TO_RECEIVE_BEFORE_AVF0 8
              typedef struct {
                  volatile unsigned char PE[2];
                  volatile unsigned char PB[2];
                  volatile unsigned char V0;
                  volatile unsigned char V1;
                  volatile unsigned char V2_ELLIP_DOP;
                  volatile unsigned char SZ;
                  volatile unsigned char VPHI;
              } BP1_t;
              #endif // FSW_PARAMS_PROCESSING_H

header/fsw_processing.h 0 -1

              #ifndef FSW_PROCESSING_H_INCLUDED
              #define FSW_PROCESSING_H_INCLUDED
              #include <rtems.h>
              #include <grspw.h>
              #include <math.h>
              #include <stdlib.h> // abs() is in the stdlib
              #include <stdio.h>  // printf()
              #include <math.h>
              #include "fsw_params.h"
              #include "fsw_spacewire.h"
-             #include "basic_parameters.h"
              extern volatile int sm_f0[ ];
              extern volatile int sm_f1[ ];
              extern volatile int sm_f2[ ];
              // parameters
              extern struct param_local_str param_local;
              // registers
              extern time_management_regs_t *time_management_regs;
              extern spectral_matrix_regs_t *spectral_matrix_regs;
              extern rtems_name  misc_name[5];
              extern rtems_id    Task_id[20];         /* array of task ids */
              void init_sm_rings( void );
              void reset_current_sm_ring_nodes( void );
              // ISR
              void reset_nb_sm_f0( void );
              rtems_isr spectral_matrices_isr( rtems_vector_number vector );
              rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector );
              // RTEMS TASKS
              rtems_task avf0_task(rtems_task_argument argument);
              rtems_task smiq_task(rtems_task_argument argument); // added to test the spectral matrix simulator
              rtems_task matr_task(rtems_task_argument argument);
              void matrix_reset(volatile float *averaged_spec_mat);
              void BP1_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1);
              void BP2_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat);
              //
              void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header);
              void ASM_reorganize( float *averaged_spec_mat, float *averaged_spec_mat_reorganized );
              void ASM_compress( float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat );
              void ASM_convert(volatile float *input_matrix, char *output_matrix);
              void ASM_send(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                  unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send, rtems_id queue_id);
              void fill_averaged_spectral_matrix( void );
              void reset_spectral_matrix_regs();
              #endif // FSW_PROCESSING_H_INCLUDED

header/grlib_regs.h +10 -5

              #ifndef GRLIB_REGS_H_INCLUDED
              #define GRLIB_REGS_H_INCLUDED
              #define NB_GPTIMER 3
              struct apbuart_regs_str{
                  volatile unsigned int data;
                  volatile unsigned int status;
                  volatile unsigned int ctrl;
                  volatile unsigned int scaler;
                  volatile unsigned int fifoDebug;
              };
-             struct ahbuart_regs_str{
-                 volatile unsigned int unused;
-                 volatile unsigned int status;
-                 volatile unsigned int ctrl;
-                 volatile unsigned int scaler;
+             struct grgpio_regs_str{
+                 volatile int io_port_data_register;
+                 int io_port_output_register;
+                 int io_port_direction_register;
+                 int interrupt_mak_register;
+                 int interrupt_polarity_register;
+                 int interrupt_edge_register;
+                 int bypass_register;
+                 int reserved;
+                 // 0x20-0x3c interrupt map register(s)
              };
              typedef struct {
                  volatile unsigned int counter;
                  volatile unsigned int reload;
                  volatile unsigned int ctrl;
                  volatile unsigned int unused;
              } timer_regs_t;
              typedef struct {
                  volatile unsigned int scaler_value;
                  volatile unsigned int scaler_reload;
                  volatile unsigned int conf;
                  volatile unsigned int unused0;
                  timer_regs_t timer[NB_GPTIMER];
              } gptimer_regs_t;
              typedef struct {
                  volatile int ctrl; // bit 0 forces the load of the coarse_time_load value and resets the fine_time
                  volatile int coarse_time_load;
                  volatile int coarse_time;
                  volatile int fine_time;
              } time_management_regs_t;
              typedef struct {
                  volatile int data_shaping;      // 0x00 00      *** R1 R0 SP1 SP0 BW
                  volatile int burst_enable;      // 0x04 01      *** burst f2, f1, f0     enable f3, f2, f1, f0
                  volatile int addr_data_f0;      // 0x08 10      ***
                  volatile int addr_data_f1;      // 0x0c 11      ***
                  volatile int addr_data_f2;      // 0x10 100     ***
                  volatile int addr_data_f3;      // 0x14 101     ***
                  volatile int status;            // 0x18 110     ***
                  volatile int delta_snapshot;    // 0x1c 111     ***
                  volatile int delta_f2_f1;       // 0x20 0000    ***
                  volatile int delta_f2_f0;       // 0x24 0001    ***
                  volatile int nb_burst_available;// 0x28 0010    ***
                  volatile int nb_snapshot_param; // 0x2c 0011    ***
              } waveform_picker_regs_t;
              typedef struct{
                  int data_shaping; // 0x00 00 *** R1 R0 SP1 SP0 BW
                  int run_burst_enable; // 0x04 01 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                  int addr_data_f0; // 0x08
                  int addr_data_f1; // 0x0c
                  int addr_data_f2; // 0x10
                  int addr_data_f3; // 0x14
                  volatile int status; // 0x18
                  int delta_snapshot; // 0x1c
                  int delta_f0; // 0x20
                  int delta_f0_2; // 0x24
                  int delta_f1; // 0x28
                  int delta_f2; // 0x2c
                  int nb_data_by_buffer; // 0x30
                  int snapshot_param; // 0x34
                  int start_date; // 0x38
                  int nb_word_in_buffer; // 0x3c
              } waveform_picker_regs_new_t;
              typedef struct {
                  volatile int config;
                  volatile int status;
                  volatile int matrixF0_Address0;
                  volatile int matrixFO_Address1;
                  volatile int matrixF1_Address;
                  volatile int matrixF2_Address;
                  volatile int coarse_time_F0_0;
                  volatile int coarse_time_F0_1;
                  volatile int coarse_time_F1;
                  volatile int coarse_time_F2;
                  volatile int fine_time_FO_0;
                  volatile int fine_time_F0_1;
                  volatile int fine_time_F1;
                  volatile int fine_time_F2;
                  volatile int debug;
              } spectral_matrix_regs_t;
              #endif // GRLIB_REGS_H_INCLUDED

header/tc_handler.h +3 -3

              #ifndef TC_HANDLER_H_INCLUDED
              #define TC_HANDLER_H_INCLUDED
              #include <rtems.h>
              #include <leon.h>
              #include "tc_load_dump_parameters.h"
              #include "tc_acceptance.h"
              #include "tm_lfr_tc_exe.h"
              #include "wf_handler.h"
              #include "fsw_processing.h"
              // MODE PARAMETERS
              extern unsigned int maxCount;
              //****
              // ISR
              rtems_isr commutation_isr1( rtems_vector_number vector );
              rtems_isr commutation_isr2( rtems_vector_number vector );
              //***********
              // RTEMS TASK
              rtems_task actn_task( rtems_task_argument unused );
              //***********
              // TC ACTIONS
              int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
              int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
              int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
              int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
              int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
              int action_update_time(ccsdsTelecommandPacket_t *TC);
              // mode transition
              int transition_validation(unsigned char requestedMode);
              int stop_current_mode( void );
              int enter_mode(unsigned char mode);
              int restart_science_tasks();
              int suspend_science_tasks();
              void launch_waveform_picker( unsigned char mode );
              void launch_spectral_matrix( unsigned char mode );
              void set_irq_on_new_ready_matrix(unsigned char value );
              void set_run_matrix_spectral( unsigned char value );
              void launch_spectral_matrix_simu( unsigned char mode );
              // other functions
              void updateLFRCurrentMode();
-             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC );
-             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC );
-             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
+             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
+             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
+             void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
              extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
              extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
              #endif // TC_HANDLER_H_INCLUDED

src/fsw_processing.c +11 -5

              /** Functions related to data processing.
               *
               * @file
               * @author P. LEROY
               *
               * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
               *
               */
              #include <fsw_processing.h>
              #include "fsw_processing_globals.c"
              //************************
              // spectral matrices rings
              ring_node sm_ring_f0[NB_RING_NODES_ASM_F0];
              ring_node sm_ring_f1[NB_RING_NODES_ASM_F1];
              ring_node sm_ring_f2[NB_RING_NODES_ASM_F2];
              ring_node *current_ring_node_sm_f0;
              ring_node *ring_node_for_averaging_sm_f0;
              ring_node *current_ring_node_sm_f1;
              ring_node *current_ring_node_sm_f2;
              BP1_t data_BP1[ NB_BINS_COMPRESSED_SM_F0 ];
              float averaged_sm_f0            [ TIME_OFFSET + TOTAL_SIZE_SM ];
              float averaged_sm_f0_reorganized[ TIME_OFFSET + TOTAL_SIZE_SM ];
-             char averaged_sm_f0_char        [ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_SM * 2 ];
+             char averaged_sm_f0_char        [ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_SM ];
              float compressed_sm_f0          [ TOTAL_SIZE_COMPRESSED_ASM_F0 ];
+             unsigned char LFR_BP1_F0[ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_BP1_F0 * 2 ];
+             unsigned char LFR_BP1_F1[ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_BP1_F1 ];
+             unsigned char LFR_BP1_F2[ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_BP1_F2 ];
              unsigned int nb_sm_f0;
              void init_sm_rings( void )
              {
                  unsigned char i;
                  // F0 RING
                  sm_ring_f0[0].next            = (ring_node*) &sm_ring_f0[1];
                  sm_ring_f0[0].previous        = (ring_node*) &sm_ring_f0[NB_RING_NODES_ASM_F0-1];
                  sm_ring_f0[0].buffer_address  =
                          (int) &sm_f0[ 0 ];
                  sm_ring_f0[NB_RING_NODES_ASM_F0-1].next           = (ring_node*) &sm_ring_f0[0];
                  sm_ring_f0[NB_RING_NODES_ASM_F0-1].previous       = (ring_node*) &sm_ring_f0[NB_RING_NODES_ASM_F0-2];
                  sm_ring_f0[NB_RING_NODES_ASM_F0-1].buffer_address =
                          (int) &sm_f0[ (NB_RING_NODES_ASM_F0-1) * TOTAL_SIZE_SM ];
                  for(i=1; i<NB_RING_NODES_ASM_F0-1; i++)
                  {
                      sm_ring_f0[i].next            = (ring_node*) &sm_ring_f0[i+1];
                      sm_ring_f0[i].previous        = (ring_node*) &sm_ring_f0[i-1];
                      sm_ring_f0[i].buffer_address  =
                              (int) &sm_f0[ i * TOTAL_SIZE_SM ];
                  }
                  // F1 RING
                  sm_ring_f1[0].next            = (ring_node*) &sm_ring_f1[1];
                  sm_ring_f1[0].previous        = (ring_node*) &sm_ring_f1[NB_RING_NODES_ASM_F1-1];
                  sm_ring_f1[0].buffer_address  =
                          (int) &sm_f1[ 0 ];
                  sm_ring_f1[NB_RING_NODES_ASM_F1-1].next           = (ring_node*) &sm_ring_f1[0];
                  sm_ring_f1[NB_RING_NODES_ASM_F1-1].previous       = (ring_node*) &sm_ring_f1[NB_RING_NODES_ASM_F1-2];
                  sm_ring_f1[NB_RING_NODES_ASM_F1-1].buffer_address =
                          (int) &sm_f1[ (NB_RING_NODES_ASM_F1-1) * TOTAL_SIZE_SM ];
                  for(i=1; i<NB_RING_NODES_ASM_F1-1; i++)
                  {
                      sm_ring_f1[i].next            = (ring_node*) &sm_ring_f1[i+1];
                      sm_ring_f1[i].previous        = (ring_node*) &sm_ring_f1[i-1];
                      sm_ring_f1[i].buffer_address  =
                              (int) &sm_f1[ i * TOTAL_SIZE_SM ];
                  }
                  // F2 RING
                  sm_ring_f2[0].next            = (ring_node*) &sm_ring_f2[1];
                  sm_ring_f2[0].previous        = (ring_node*) &sm_ring_f2[NB_RING_NODES_ASM_F2-1];
                  sm_ring_f2[0].buffer_address  =
                          (int) &sm_f2[ 0 ];
                  sm_ring_f2[NB_RING_NODES_ASM_F2-1].next           = (ring_node*) &sm_ring_f2[0];
                  sm_ring_f2[NB_RING_NODES_ASM_F2-1].previous       = (ring_node*) &sm_ring_f2[NB_RING_NODES_ASM_F2-2];
                  sm_ring_f2[NB_RING_NODES_ASM_F2-1].buffer_address =
                          (int) &sm_f2[ (NB_RING_NODES_ASM_F2-1) * TOTAL_SIZE_SM ];
                  for(i=1; i<NB_RING_NODES_ASM_F2-1; i++)
                  {
                      sm_ring_f2[i].next            = (ring_node*) &sm_ring_f2[i+1];
                      sm_ring_f2[i].previous        = (ring_node*) &sm_ring_f2[i-1];
                      sm_ring_f2[i].buffer_address  =
                              (int) &sm_f2[ i * TOTAL_SIZE_SM ];
                  }
                  DEBUG_PRINTF1("asm_ring_f0 @%x\n", (unsigned int) sm_ring_f0)
                  DEBUG_PRINTF1("asm_ring_f1 @%x\n", (unsigned int) sm_ring_f1)
                  DEBUG_PRINTF1("asm_ring_f2 @%x\n", (unsigned int) sm_ring_f2)
                  spectral_matrix_regs->matrixF0_Address0 = sm_ring_f0[0].buffer_address;
                  DEBUG_PRINTF1("spectral_matrix_regs->matrixF0_Address0 @%x\n", spectral_matrix_regs->matrixF0_Address0)
              }
              void reset_current_sm_ring_nodes( void )
              {
                  current_ring_node_sm_f0 = sm_ring_f0;
                  current_ring_node_sm_f1 = sm_ring_f1;
                  current_ring_node_sm_f2 = sm_ring_f2;
                  ring_node_for_averaging_sm_f0   = sm_ring_f0;
              }
              //***********************************************************
              // Interrupt Service Routine for spectral matrices processing
              void reset_nb_sm_f0( void )
              {
                  nb_sm_f0 = 0;
              }
              rtems_isr spectral_matrices_isr( rtems_vector_number vector )
              {
                  rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                  if ( (spectral_matrix_regs->status & 0x1) == 0x01)
                  {
                      current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                      spectral_matrix_regs->matrixF0_Address0 = current_ring_node_sm_f0->buffer_address;
                      spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffe;   // 1110
                      nb_sm_f0 = nb_sm_f0 + 1;
                  }
                  else if ( (spectral_matrix_regs->status & 0x2) == 0x02)
                  {
                      current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                      spectral_matrix_regs->matrixFO_Address1 = current_ring_node_sm_f0->buffer_address;
                      spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffd;   // 1101
                      nb_sm_f0 = nb_sm_f0 + 1;
                  }
                  if ( (spectral_matrix_regs->status & 0x30) != 0x00)
                  {
                      rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                      spectral_matrix_regs->status = spectral_matrix_regs->status & 0xffffffcf;   // 1100 1111
                  }
                  spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffff3;   // 0011
                  if (nb_sm_f0 == (NB_SM_TO_RECEIVE_BEFORE_AVF0-1) )
                  {
                      ring_node_for_averaging_sm_f0 = current_ring_node_sm_f0;
                      if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                      {
                          rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                      }
                      nb_sm_f0 = 0;
                  }
                  else
                  {
                      nb_sm_f0 = nb_sm_f0 + 1;
                  }
              }
              rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
              {
                  if (nb_sm_f0 == (NB_SM_TO_RECEIVE_BEFORE_AVF0-1) )
                  {
                      ring_node_for_averaging_sm_f0 = current_ring_node_sm_f0;
                      if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                      {
                          rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                      }
                      nb_sm_f0 = 0;
                  }
                  else
                  {
                      nb_sm_f0 = nb_sm_f0 + 1;
                  }
              }
              //************
              // RTEMS TASKS
              rtems_task smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
              {
                  rtems_event_set event_out;
                  BOOT_PRINTF("in SMIQ *** \n")
                  while(1){
                      rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                  }
              }
              rtems_task avf0_task(rtems_task_argument argument)
              {
                  int i;
                  static int nb_average;
                  rtems_event_set event_out;
                  rtems_status_code status;
                  ring_node *ring_node_tab[8];
                  nb_average = 0;
                  BOOT_PRINTF("in AVFO *** \n")
                  while(1){
                      rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                      ring_node_tab[NB_SM_TO_RECEIVE_BEFORE_AVF0-1] = ring_node_for_averaging_sm_f0;
                      for (i=2; i<NB_SM_TO_RECEIVE_BEFORE_AVF0+1; i++)
                      {
                          ring_node_for_averaging_sm_f0 = ring_node_for_averaging_sm_f0->previous;
                          ring_node_tab[NB_SM_TO_RECEIVE_BEFORE_AVF0-i] = ring_node_for_averaging_sm_f0;
                      }
                      averaged_sm_f0[0] = ( (int *) (ring_node_tab[7]->buffer_address) ) [0];
                      averaged_sm_f0[1] = ( (int *) (ring_node_tab[7]->buffer_address) ) [1];
                      for(i=0; i<TOTAL_SIZE_SM; i++)
                      {
                          averaged_sm_f0[i] = ( (int *) (ring_node_tab[0]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[1]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[2]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[3]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[4]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[5]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[6]->buffer_address) ) [i + TIME_OFFSET]
                                  + ( (int *) (ring_node_tab[7]->buffer_address) ) [i + TIME_OFFSET];
                      }
                      nb_average = nb_average + NB_SM_TO_RECEIVE_BEFORE_AVF0;
                      if (nb_average == NB_AVERAGE_NORMAL_f0) {
                          nb_average = 0;
                          status = rtems_event_send( Task_id[TASKID_MATR], RTEMS_EVENT_0 ); // sending an event to the task 7, BPF0
                          if (status != RTEMS_SUCCESSFUL) {
                              printf("in AVF0 *** Error sending RTEMS_EVENT_0, code %d\n", status);
                          }
                      }
                  }
              }
              rtems_task matr_task(rtems_task_argument argument)
              {
                  spw_ioctl_pkt_send spw_ioctl_send_ASM;
                  rtems_event_set event_out;
                  rtems_status_code status;
                  rtems_id queue_id;
                  Header_TM_LFR_SCIENCE_ASM_t headerASM;
                  init_header_asm( &headerASM );
                  status =  get_message_queue_id_send( &queue_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in MATR *** ERR get_message_queue_id_send %d\n", status)
                  }
                  BOOT_PRINTF("in MATR *** \n")
                  fill_averaged_spectral_matrix( );
                  while(1){
                      rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                      // 1)  compress the matrix for Basic Parameters calculation
                      ASM_compress( averaged_sm_f0, 0, compressed_sm_f0 );
                      // 2)
-                     //BP1_set(compressed_sm_f0, NB_BINS_COMPRESSED_SM_F0, LFR_BP1_F0);
+             //        BP1_set( (float *) &compressed_sm_f0[TIME_OFFSET], NB_BINS_COMPRESSED_SM_F0, (unsigned char *) &LFR_BP1_F0[TIME_OFFSET_IN_BYTES] );
                      // 3) convert the float array in a char array
                      ASM_reorganize( averaged_sm_f0, averaged_sm_f0_reorganized );
                      ASM_convert( averaged_sm_f0_reorganized, averaged_sm_f0_char);
                      // 4) send the spectral matrix packets
                      ASM_send( &headerASM, averaged_sm_f0_char, SID_NORM_ASM_F0, &spw_ioctl_send_ASM, queue_id);
                  }
              }
              //*****************************
              // Spectral matrices processing
              void matrix_reset(volatile float *averaged_spec_mat)
              {
                  int i;
                  for(i=0; i<TOTAL_SIZE_SM; i++){
                      averaged_spec_mat[i] = 0;
                  }
              }
              void ASM_reorganize( float *averaged_spec_mat, float *averaged_spec_mat_reorganized )
              {
                  int frequencyBin;
                  int asmComponent;
                  // copy the time information
                  averaged_spec_mat_reorganized[ 0 ] = averaged_spec_mat[ 0 ];
                  averaged_spec_mat_reorganized[ 1 ] = averaged_spec_mat[ 1 ];
                  for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                  {
                      for( frequencyBin = 0; frequencyBin < NB_BINS_PER_SM; frequencyBin++ )
                      {
                          averaged_spec_mat_reorganized[ frequencyBin * NB_VALUES_PER_SM + asmComponent + TIME_OFFSET ] =
                                  averaged_spec_mat[ asmComponent * NB_BINS_PER_SM + frequencyBin + TIME_OFFSET];
                      }
                  }
              }
              void ASM_compress( float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat )
              {
                  int frequencyBin;
                  int asmComponent;
                  int offsetASM;
                  int offsetCompressed;
                  int k;
                  switch (fChannel){
                  case 0:
                      for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                      {
                          for( frequencyBin = 0; frequencyBin < NB_BINS_COMPRESSED_SM_F0; frequencyBin++ )
                          {
-                             offsetASM = asmComponent * NB_BINS_PER_SM
+                             offsetCompressed = TIME_OFFSET
+                                     + frequencyBin * NB_VALUES_PER_SM
+                                     + asmComponent;
+                             offsetASM = TIME_OFFSET
+                                     + asmComponent * NB_BINS_PER_SM
                                      + ASM_F0_INDICE_START
                                      + frequencyBin * NB_BINS_TO_AVERAGE_ASM_F0;
-                             offsetCompressed = frequencyBin * NB_VALUES_PER_SM
-                                     + asmComponent;
                              compressed_spec_mat[ offsetCompressed ] = 0;
                              for ( k = 0; k < NB_BINS_TO_AVERAGE_ASM_F0; k++ )
                              {
                                  compressed_spec_mat[offsetCompressed ] =
                                          compressed_spec_mat[ offsetCompressed ]
                                          + averaged_spec_mat[ offsetASM + k ];
                              }
                          }
                      }
                      break;
                  case 1:
                          // case fChannel = f1 to be completed later
                      break;
                  case 2:
                          // case fChannel = f1 to be completed later
                      break;
                  default:
                      break;
                  }
              }
              void ASM_convert( volatile float *input_matrix, char *output_matrix)
              {
                  unsigned int i;
                  unsigned int frequencyBin;
                  unsigned int asmComponent;
                  char * pt_char_input;
                  char * pt_char_output;
                  pt_char_input = (char*) &input_matrix;
                  pt_char_output = (char*) &output_matrix;
                  // copy the time information
                  for (i=0; i<TIME_OFFSET_IN_BYTES; i++)
                  {
                      pt_char_output[ i ] = pt_char_output[ i ];
                  }
                  // convert all other data
                  for( frequencyBin=0; frequencyBin<NB_BINS_PER_SM; frequencyBin++)
                  {
                      for ( asmComponent=0; asmComponent<NB_VALUES_PER_SM; asmComponent++)
                      {
                          pt_char_input =  (char*) &input_matrix [       (frequencyBin*NB_VALUES_PER_SM) + asmComponent   + TIME_OFFSET ];
                          pt_char_output = (char*) &output_matrix[ 2 * ( (frequencyBin*NB_VALUES_PER_SM) + asmComponent ) + TIME_OFFSET_IN_BYTES ];
                          pt_char_output[0] = pt_char_input[0];   // bits 31 downto 24 of the float
                          pt_char_output[1] = pt_char_input[1];   // bits 23 downto 16 of the float
                      }
                  }
              }
              void ASM_send(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                  unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send, rtems_id queue_id)
              {
                  unsigned int i;
                  unsigned int length = 0;
                  rtems_status_code status;
                  for (i=0; i<2; i++)
                  {
                      // (1) BUILD THE DATA
                      switch(sid)
                      {
                      case SID_NORM_ASM_F0:
                          spw_ioctl_send->dlen = TOTAL_SIZE_ASM_F0_IN_BYTES / 2;
                          spw_ioctl_send->data = &spectral_matrix[
                                  ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0) ) * NB_VALUES_PER_SM ) * 2
                                  + TIME_OFFSET_IN_BYTES
                                  ];
                          length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0;
                          header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0) >> 8 ); // BLK_NR MSB
                          header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0);        // BLK_NR LSB
                          break;
                      case SID_NORM_ASM_F1:
                          break;
                      case SID_NORM_ASM_F2:
                          break;
                      default:
                          PRINTF1("ERR *** in ASM_send *** unexpected sid %d\n", sid)
                          break;
                      }
                      spw_ioctl_send->hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM + CCSDS_PROTOCOLE_EXTRA_BYTES;
                      spw_ioctl_send->hdr = (char *) header;
                      spw_ioctl_send->options = 0;
                      // (2) BUILD THE HEADER
                      header->packetLength[0] = (unsigned char) (length>>8);
                      header->packetLength[1] = (unsigned char) (length);
                      header->sid = (unsigned char) sid;   // SID
                      header->pa_lfr_pkt_cnt_asm = 2;
                      header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                      // (3) SET PACKET TIME
                      header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                      header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                      header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                      header->time[3] = (unsigned char) (time_management_regs->coarse_time);
                      header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                      header->time[5] = (unsigned char) (time_management_regs->fine_time);
                      //
                      header->acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                      header->acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                      header->acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                      header->acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
                      header->acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
                      header->acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                      // (4) SEND PACKET
                      status =  rtems_message_queue_send( queue_id, spw_ioctl_send, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                      if (status != RTEMS_SUCCESSFUL) {
                          printf("in ASM_send *** ERR %d\n", (int) status);
                      }
                  }
              }
              void BP1_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1){
                  int i;
                  int j;
                  unsigned char tmp_u_char;
                  unsigned char * pt_char = NULL;
                  float PSDB, PSDE;
                  float NVEC_V0;
                  float NVEC_V1;
                  float NVEC_V2;
                  //float significand;
                  //int exponent;
                  float aux;
                  float tr_SB_SB;
                  float tmp;
                  float sx_re;
                  float sx_im;
                  float nebx_re = 0;
                  float nebx_im = 0;
                  float ny = 0;
                  float nz = 0;
                  float bx_bx_star = 0;
                  for(i=0; i<nb_bins_compressed_spec_mat; i++){
                      //==============================================
                      // BP1 PSD == B PAR_LFR_SC_BP1_PE_FL0 == 16 bits
                      PSDB = compressed_spec_mat[i*30]      // S11
                          + compressed_spec_mat[(i*30) + 10]    // S22
                          + compressed_spec_mat[(i*30) + 18];   // S33
                      //significand = frexp(PSDB, &exponent);
                      pt_char = (unsigned char*) &PSDB;
                      LFR_BP1[(i*9) + 2] = pt_char[0]; // bits 31 downto 24 of the float
                      LFR_BP1[(i*9) + 3] = pt_char[1];  // bits 23 downto 16 of the float
                      //==============================================
                      // BP1 PSD == E PAR_LFR_SC_BP1_PB_FL0 == 16 bits
                      PSDE = compressed_spec_mat[(i*30) + 24] * K44_pe     // S44
                          + compressed_spec_mat[(i*30) + 28] * K55_pe      // S55
                          + compressed_spec_mat[(i*30) + 26] * K45_pe_re   // S45
                          - compressed_spec_mat[(i*30) + 27] * K45_pe_im;  // S45
                      pt_char = (unsigned char*) &PSDE;
                      LFR_BP1[(i*9) + 0] = pt_char[0]; // bits 31 downto 24 of the float
                      LFR_BP1[(i*9) + 1] = pt_char[1]; // bits 23 downto 16 of the float
                      //==============================================================================
                      // BP1 normal wave vector == PAR_LFR_SC_BP1_NVEC_V0_F0 == 8 bits
                                             // == PAR_LFR_SC_BP1_NVEC_V1_F0 == 8 bits
                                             // == PAR_LFR_SC_BP1_NVEC_V2_F0 == 1 bits
                      tmp = sqrt(
                                  compressed_spec_mat[(i*30) + 3]*compressed_spec_mat[(i*30) + 3]     //Im S12
                                  +compressed_spec_mat[(i*30) + 5]*compressed_spec_mat[(i*30) + 5]    //Im S13
                                  +compressed_spec_mat[(i*30) + 13]*compressed_spec_mat[(i*30) + 13]   //Im S23
                                  );
                      NVEC_V0 = compressed_spec_mat[(i*30) + 13] / tmp;  // Im S23
                      NVEC_V1 = -compressed_spec_mat[(i*30) + 5] / tmp;  // Im S13
                      NVEC_V2 = compressed_spec_mat[(i*30) + 3] / tmp;   // Im S12
                      LFR_BP1[(i*9) + 4] = (char) (NVEC_V0*127);
                      LFR_BP1[(i*9) + 5] = (char) (NVEC_V1*127);
                      pt_char = (unsigned char*) &NVEC_V2;
                      LFR_BP1[(i*9) + 6] = pt_char[0] & 0x80;  // extract the sign of NVEC_V2
                      //=======================================================
                      // BP1 ellipticity == PAR_LFR_SC_BP1_ELLIP_F0   == 4 bits
                      aux = 2*tmp / PSDB;                                             // compute the ellipticity
                      tmp_u_char = (unsigned char) (aux*(16-1));                      // convert the ellipticity
                      LFR_BP1[i*9+6] = LFR_BP1[i*9+6] | ((tmp_u_char&0x0f)<<3); // keeps 4 bits of the resulting unsigned char
                      //==============================================================
                      // BP1 degree of polarization == PAR_LFR_SC_BP1_DOP_F0 == 3 bits
                      for(j = 0; j<NB_VALUES_PER_SM;j++){
                          tr_SB_SB = compressed_spec_mat[i*30] * compressed_spec_mat[i*30]
                                  + compressed_spec_mat[(i*30) + 10] * compressed_spec_mat[(i*30) + 10]
                                  + compressed_spec_mat[(i*30) + 18] * compressed_spec_mat[(i*30) + 18]
                                  + 2 * compressed_spec_mat[(i*30) + 2] * compressed_spec_mat[(i*30) + 2]
                                  + 2 * compressed_spec_mat[(i*30) + 3] * compressed_spec_mat[(i*30) + 3]
                                  + 2 * compressed_spec_mat[(i*30) + 4] * compressed_spec_mat[(i*30) + 4]
                                  + 2 * compressed_spec_mat[(i*30) + 5] * compressed_spec_mat[(i*30) + 5]
                                  + 2 * compressed_spec_mat[(i*30) + 12] * compressed_spec_mat[(i*30) + 12]
                                  + 2 * compressed_spec_mat[(i*30) + 13] * compressed_spec_mat[(i*30) + 13];
                      }
                      aux = PSDB*PSDB;
                      tmp = sqrt( abs( ( 3*tr_SB_SB - aux ) / ( 2 * aux ) ) );
                      tmp_u_char = (unsigned char) (NVEC_V0*(8-1));
                      LFR_BP1[(i*9) + 6] = LFR_BP1[(i*9) + 6] | (tmp_u_char & 0x07); // keeps 3 bits of the resulting unsigned char
                      //=======================================================================================
                      // BP1 x-component of the normalized Poynting flux == PAR_LFR_SC_BP1_SZ_F0 == 8 bits (7+1)
                      sx_re = compressed_spec_mat[(i*30) + 20] * K34_sx_re
                                      + compressed_spec_mat[(i*30) + 6] * K14_sx_re
                                      + compressed_spec_mat[(i*30) + 8] * K15_sx_re
                                      + compressed_spec_mat[(i*30) + 14] * K24_sx_re
                                      + compressed_spec_mat[(i*30) + 16] * K25_sx_re
                                      + compressed_spec_mat[(i*30) + 22] * K35_sx_re;
                      sx_im = compressed_spec_mat[(i*30) + 21] * K34_sx_im
                                      + compressed_spec_mat[(i*30) + 7] * K14_sx_im
                                      + compressed_spec_mat[(i*30) + 9] * K15_sx_im
                                      + compressed_spec_mat[(i*30) + 15] * K24_sx_im
                                      + compressed_spec_mat[(i*30) + 17] * K25_sx_im
                                      + compressed_spec_mat[(i*30) + 23] * K35_sx_im;
                      LFR_BP1[(i*9) + 7] = ((unsigned char) (sx_re * 128)) & 0x7f; // cf DOC for the compression
                      if ( abs(sx_re) > abs(sx_im) ) {
                          LFR_BP1[(i*9) + 7] = LFR_BP1[(i*9) + 1] | (0x80);  // extract the sector of sx
                      }
                      else {
                          LFR_BP1[(i*9) + 7] = LFR_BP1[(i*9) + 1] & (0x7f);  // extract the sector of sx
                      }
                      //======================================================================
                      // BP1 phase velocity estimator == PAR_LFR_SC_BP1_VPHI_F0 == 8 bits (7+1)
                      ny = sin(Alpha_M)*NVEC_V1 + cos(Alpha_M)*NVEC_V2;
                      nz = NVEC_V0;
                      bx_bx_star = cos(Alpha_M) * cos(Alpha_M) * compressed_spec_mat[i*30+10]            // re S22
                                      + sin(Alpha_M) * sin(Alpha_M) * compressed_spec_mat[i*30+18]       // re S33
                                      - 2 * sin(Alpha_M) * cos(Alpha_M) * compressed_spec_mat[i*30+12];  // re S23
                      nebx_re = ny * (compressed_spec_mat[(i*30) + 14] * K24_ny_re
                                                      +compressed_spec_mat[(i*30) + 16] * K25_ny_re
                                                      +compressed_spec_mat[(i*30) + 20] * K34_ny_re
                                                      +compressed_spec_mat[(i*30) + 22] * K35_ny_re)
                                              + nz * (compressed_spec_mat[(i*30) + 14] * K24_nz_re
                                                      +compressed_spec_mat[(i*30) + 16] * K25_nz_re
                                                      +compressed_spec_mat[(i*30) + 20] * K34_nz_re
                                                      +compressed_spec_mat[(i*30) + 22] * K35_nz_re);
                      nebx_im = ny * (compressed_spec_mat[(i*30) + 15]*K24_ny_re
                                                      +compressed_spec_mat[(i*30) + 17] * K25_ny_re
                                                      +compressed_spec_mat[(i*30) + 21] * K34_ny_re
                                                      +compressed_spec_mat[(i*30) + 23] * K35_ny_re)
                                              + nz * (compressed_spec_mat[(i*30) + 15] * K24_nz_im
                                                      +compressed_spec_mat[(i*30) + 17] * K25_nz_im
                                                      +compressed_spec_mat[(i*30) + 21] * K34_nz_im
                                                      +compressed_spec_mat[(i*30) + 23] * K35_nz_im);
                      tmp = nebx_re / bx_bx_star;
                      LFR_BP1[(i*9) + 8] = ((unsigned char) (tmp * 128)) & 0x7f; // cf DOC for the compression
                      if ( abs(nebx_re) > abs(nebx_im) ) {
                          LFR_BP1[(i*9) + 8] = LFR_BP1[(i*9) + 8] | (0x80);  // extract the sector of nebx
                      }
                      else {
                          LFR_BP1[(i*9) + 8] = LFR_BP1[(i*9) + 8] & (0x7f);  // extract the sector of nebx
                      }
                  }
              }
              void BP2_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat){
                  // BP2 autocorrelation
                  int i;
                  int aux = 0;
                  for(i = 0; i<nb_bins_compressed_spec_mat; i++){
                      // S12
                      aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30) + 10]);
                      compressed_spec_mat[(i*30) + 2] = compressed_spec_mat[(i*30) + 2] / aux;
                      compressed_spec_mat[(i*30) + 3] = compressed_spec_mat[(i*30) + 3] / aux;
                      // S13
                      aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30) + 18]);
                      compressed_spec_mat[(i*30) + 4] = compressed_spec_mat[(i*30) + 4] / aux;
                      compressed_spec_mat[(i*30) + 5] = compressed_spec_mat[(i*30) + 5] / aux;
                      // S23
                      aux = sqrt(compressed_spec_mat[i*30+12]*compressed_spec_mat[(i*30) + 18]);
                      compressed_spec_mat[(i*30) + 12] = compressed_spec_mat[(i*30) + 12] / aux;
                      compressed_spec_mat[(i*30) + 13] = compressed_spec_mat[(i*30) + 13] / aux;
                      // S45
                      aux = sqrt(compressed_spec_mat[i*30+24]*compressed_spec_mat[(i*30) + 28]);
                      compressed_spec_mat[(i*30) + 26] = compressed_spec_mat[(i*30) + 26] / aux;
                      compressed_spec_mat[(i*30) + 27] = compressed_spec_mat[(i*30) + 27] / aux;
                      // S14
                      aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30)  +24]);
                      compressed_spec_mat[(i*30) + 6] = compressed_spec_mat[(i*30) + 6] / aux;
                      compressed_spec_mat[(i*30) + 7] = compressed_spec_mat[(i*30) + 7] / aux;
                      // S15
                      aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30) + 28]);
                      compressed_spec_mat[(i*30) + 8] = compressed_spec_mat[(i*30) + 8] / aux;
                      compressed_spec_mat[(i*30) + 9] = compressed_spec_mat[(i*30) + 9] / aux;
                      // S24
                      aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[(i*30) + 24]);
                      compressed_spec_mat[(i*30) + 14] = compressed_spec_mat[(i*30) + 14] / aux;
                      compressed_spec_mat[(i*30) + 15] = compressed_spec_mat[(i*30) + 15] / aux;
                      // S25
                      aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[(i*30) + 28]);
                      compressed_spec_mat[(i*30) + 16] = compressed_spec_mat[(i*30) + 16] / aux;
                      compressed_spec_mat[(i*30) + 17] = compressed_spec_mat[(i*30) + 17] / aux;
                      // S34
                      aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[(i*30) + 24]);
                      compressed_spec_mat[(i*30) + 20] = compressed_spec_mat[(i*30) + 20] / aux;
                      compressed_spec_mat[(i*30) + 21] = compressed_spec_mat[(i*30) + 21] / aux;
                      // S35
                      aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[(i*30) + 28]);
                      compressed_spec_mat[(i*30) + 22] = compressed_spec_mat[(i*30) + 22] / aux;
                      compressed_spec_mat[(i*30) + 23] = compressed_spec_mat[(i*30) + 23] / aux;
                  }
              }
              void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header)
              {
                  header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                  header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  header->reserved = 0x00;
                  header->userApplication = CCSDS_USER_APP;
                  header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                  header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                  header->packetSequenceControl[0] = 0xc0;
                  header->packetSequenceControl[1] = 0x00;
                  header->packetLength[0] = 0x00;
                  header->packetLength[1] = 0x00;
                  // DATA FIELD HEADER
                  header->spare1_pusVersion_spare2 = 0x10;
                  header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                  header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                  header->destinationID = TM_DESTINATION_ID_GROUND;
                  // AUXILIARY DATA HEADER
                  header->sid = 0x00;
                  header->biaStatusInfo = 0x00;
                  header->pa_lfr_pkt_cnt_asm = 0x00;
                  header->pa_lfr_pkt_nr_asm = 0x00;
                  header->time[0] = 0x00;
                  header->time[0] = 0x00;
                  header->time[0] = 0x00;
                  header->time[0] = 0x00;
                  header->time[0] = 0x00;
                  header->time[0] = 0x00;
                  header->pa_lfr_asm_blk_nr[0] = 0x00;  // BLK_NR MSB
                  header->pa_lfr_asm_blk_nr[1] = 0x00;  // BLK_NR LSB
              }
              void fill_averaged_spectral_matrix(void)
              {
                  /** This function fills spectral matrices related buffers with arbitrary data.
                   *
                   *  This function is for testing purpose only.
                   *
                   */
                  float offset;
                  float coeff;
                  offset = 10.;
                  coeff = 100000.;
                  averaged_sm_f0[ 0 + 25 * 0  ] = 0. + offset;
                  averaged_sm_f0[ 0 + 25 * 1  ] = 1. + offset;
                  averaged_sm_f0[ 0 + 25 * 2  ] = 2. + offset;
                  averaged_sm_f0[ 0 + 25 * 3  ] = 3. + offset;
                  averaged_sm_f0[ 0 + 25 * 4  ] = 4. + offset;
                  averaged_sm_f0[ 0 + 25 * 5  ] = 5. + offset;
                  averaged_sm_f0[ 0 + 25 * 6  ] = 6. + offset;
                  averaged_sm_f0[ 0 + 25 * 7  ] = 7. + offset;
                  averaged_sm_f0[ 0 + 25 * 8  ] = 8. + offset;
                  averaged_sm_f0[ 0 + 25 * 9  ] = 9. + offset;
                  averaged_sm_f0[ 0 + 25 * 10 ] = 10. + offset;
                  averaged_sm_f0[ 0 + 25 * 11 ] = 11. + offset;
                  averaged_sm_f0[ 0 + 25 * 12 ] = 12. + offset;
                  averaged_sm_f0[ 0 + 25 * 13 ] = 13. + offset;
                  averaged_sm_f0[ 0 + 25 * 14 ] = 14. + offset;
                  averaged_sm_f0[ 9 + 25 * 0  ] = -(0. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 1  ] = -(1. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 2  ] = -(2. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 3  ] = -(3. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 4  ] = -(4. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 5  ] = -(5. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 6  ] = -(6. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 7  ] = -(7. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 8  ] = -(8. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 9  ] = -(9. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 10 ] = -(10. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 11 ] = -(11. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 12 ] = -(12. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 13 ] = -(13. + offset)* coeff;
                  averaged_sm_f0[ 9 + 25 * 14 ] = -(14. + offset)* coeff;
                  offset = 10000000;
                  averaged_sm_f0[ 16 + 25 * 0  ] = (0. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 1  ] = (1. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 2  ] = (2. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 3  ] = (3. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 4  ] = (4. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 5  ] = (5. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 6  ] = (6. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 7  ] = (7. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 8  ] = (8. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 9  ] = (9. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 10 ] = (10. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 11 ] = (11. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 12 ] = (12. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 13 ] = (13. + offset)* coeff;
                  averaged_sm_f0[ 16 + 25 * 14 ] = (14. + offset)* coeff;
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 0 ] = averaged_sm_f0[ 0 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 1 ] = averaged_sm_f0[ 1 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 2 ] = averaged_sm_f0[ 2 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 3 ] = averaged_sm_f0[ 3 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 4 ] = averaged_sm_f0[ 4 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 5 ] = averaged_sm_f0[ 5 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 6 ] = averaged_sm_f0[ 6 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 7 ] = averaged_sm_f0[ 7 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 8 ] = averaged_sm_f0[ 8 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 9 ] = averaged_sm_f0[ 9 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 10 ] = averaged_sm_f0[ 10 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 11 ] = averaged_sm_f0[ 11 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 12 ] = averaged_sm_f0[ 12 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 13 ] = averaged_sm_f0[ 13 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 14 ] = averaged_sm_f0[ 14 ];
                  averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 15 ] = averaged_sm_f0[ 15 ];
              }
              void reset_spectral_matrix_regs()
              {
                  /** This function resets the spectral matrices module registers.
                   *
                   * The registers affected by this function are located at the following offset addresses:
                   *
                   * - 0x00 config
                   * - 0x04 status
                   * - 0x08 matrixF0_Address0
                   * - 0x10 matrixFO_Address1
                   * - 0x14 matrixF1_Address
                   * - 0x18 matrixF2_Address
                   *
                   */
                  spectral_matrix_regs->config = 0x00;
                  spectral_matrix_regs->status = 0x00;
                  spectral_matrix_regs->matrixF0_Address0 = current_ring_node_sm_f0->buffer_address;
                  spectral_matrix_regs->matrixFO_Address1 = current_ring_node_sm_f0->buffer_address;
                  spectral_matrix_regs->matrixF1_Address = current_ring_node_sm_f1->buffer_address;
                  spectral_matrix_regs->matrixF2_Address = current_ring_node_sm_f2->buffer_address;
              }
              //******************
              // general functions

src/fsw_spacewire.c +16 -6

              /** Functions related to the SpaceWire interface.
               *
               * @file
               * @author P. LEROY
               *
               * A group of functions to handle SpaceWire transmissions:
               * - configuration of the SpaceWire link
               * - SpaceWire related interruption requests processing
               * - transmission of TeleMetry packets by a dedicated RTEMS task
               * - reception of TeleCommands by a dedicated RTEMS task
               *
               */
              #include "fsw_spacewire.h"
              rtems_name semq_name;
              rtems_id semq_id;
              //***********
              // RTEMS TASK
              rtems_task spiq_task(rtems_task_argument unused)
              {
                  /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   */
                  rtems_event_set event_out;
                  rtems_status_code status;
                  int linkStatus;
                  BOOT_PRINTF("in SPIQ *** \n")
                  while(true){
                      rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
                      PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
                      // [0] SUSPEND RECV AND SEND TASKS
                      status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
                      if ( status != RTEMS_SUCCESSFUL ) {
                          PRINTF("in SPIQ *** ERR suspending RECV Task\n")
                      }
                      status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
                      if ( status != RTEMS_SUCCESSFUL ) {
                          PRINTF("in SPIQ *** ERR suspending SEND Task\n")
                      }
                      // [1] CHECK THE LINK
                      status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (1)
                      if ( linkStatus != 5) {
                          PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
                          status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                      }
                      // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
                      status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status (2)
                      if ( linkStatus != 5 )  // [2.a] not in run state, reset the link
                      {
                          spacewire_compute_stats_offsets();
                          status = spacewire_reset_link( );
                      }
                      else                    // [2.b] in run state, start the link
                      {
                          status = spacewire_stop_start_link( fdSPW ); // start the link
                          if ( status != RTEMS_SUCCESSFUL)
                          {
                              PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
                          }
                      }
                      // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
                      if ( status == RTEMS_SUCCESSFUL )   // [3.a] the link is in run state and has been started successfully
                      {
                          status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                          if ( status != RTEMS_SUCCESSFUL ) {
                              PRINTF("in SPIQ *** ERR resuming SEND Task\n")
                          }
                          status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                          if ( status != RTEMS_SUCCESSFUL ) {
                              PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                          }
                      }
                      else                                // [3.b] the link is not in run state, go in STANDBY mode
                      {
                          status = stop_current_mode();
                          if ( status != RTEMS_SUCCESSFUL ) {
                              PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status)
                          }
                          status = enter_mode( LFR_MODE_STANDBY );
                          if ( status != RTEMS_SUCCESSFUL ) {
                              PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
                          }
                          // wake the WTDG task up to wait for the link recovery
                          status =  rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
                          status = rtems_task_suspend( RTEMS_SELF );
                      }
                  }
              }
              rtems_task recv_task( rtems_task_argument unused )
              {
                  /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
                   * 1. It reads the incoming data.
                   * 2. Launches the acceptance procedure.
                   * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
                   *
                   */
                  int len;
                  ccsdsTelecommandPacket_t currentTC;
                  unsigned char computed_CRC[ 2 ];
                  unsigned char currentTC_LEN_RCV[ 2 ];
                  unsigned char destinationID;
                  unsigned int currentTC_LEN_RCV_AsUnsignedInt;
                  unsigned int parserCode;
-                 unsigned char time[6];
                  rtems_status_code status;
                  rtems_id queue_recv_id;
                  rtems_id queue_send_id;
                  initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                  status =  get_message_queue_id_recv( &queue_recv_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
                  }
                  status =  get_message_queue_id_send( &queue_send_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
                  }
                  BOOT_PRINTF("in RECV *** \n")
                  while(1)
                  {
                      len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                      if (len == -1){ // error during the read call
                          PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                      }
                      else {
                          if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                              PRINTF("in RECV *** packet lenght too short\n")
                          }
                          else {
                              currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                              currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
                              currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt     );
                              // CHECK THE TC
                              parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
                              if ( (parserCode == ILLEGAL_APID)       || (parserCode == WRONG_LEN_PKT)
                                   || (parserCode == INCOR_CHECKSUM)  || (parserCode == ILL_TYPE)
                                   || (parserCode == ILL_SUBTYPE)     || (parserCode == WRONG_APP_DATA)
                                   || (parserCode == WRONG_SRC_ID) )
                              { // send TM_LFR_TC_EXE_CORRUPTED
+                                 PRINTF1("TC corrupted received, with code: %d\n", parserCode)
                                  if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                                       &&
                                       !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
                                       )
                                  {
                                      if ( parserCode == WRONG_SRC_ID )
                                      {
                                          destinationID = SID_TC_GROUND;
                                      }
                                      else
                                      {
                                          destinationID = currentTC.sourceID;
                                      }
-                                     getTime( time );
-                                     close_action( &currentTC, LFR_DEFAULT, queue_send_id );
                                      send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
                                                                    computed_CRC, currentTC_LEN_RCV,
                                                                    destinationID );
                                  }
                              }
                              else
                              { // send valid TC to the action launcher
                                  status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                      currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
                              }
                          }
                      }
                  }
              }
              rtems_task send_task( rtems_task_argument argument)
              {
                  /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                   * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                   * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                   * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                   * data it contains.
                   *
                   */
                  rtems_status_code status;               // RTEMS status code
                  char incomingData[ACTION_MSG_PKTS_MAX_SIZE];  // incoming data buffer
                  spw_ioctl_pkt_send *spw_ioctl_send;
                  size_t size;                            // size of the incoming TC packet
                  u_int32_t count;
                  rtems_id queue_id;
                  status =  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 SEND *** \n")
                  while(1)
                  {
                      status = rtems_message_queue_receive( queue_id, incomingData, &size,
                                                           RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                      if (status!=RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in SEND *** (1) ERR = %d\n", status)
                      }
                      else
                      {
                          if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
                          {
                              status = write( fdSPW, incomingData, size );
                              if (status == -1){
                                  PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                              }
                          }
                          else // the incoming message is a spw_ioctl_pkt_send structure
                          {
                              spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
                              status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                              if (status == -1){
                                  PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
                              }
                          }
                      }
                      status = rtems_message_queue_get_number_pending( queue_id, &count );
                      if (status != RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in SEND *** (3) ERR = %d\n", status)
                      }
                      else
                      {
                          if (count > maxCount)
                          {
                              maxCount = count;
                          }
                      }
                  }
              }
              rtems_task wtdg_task( rtems_task_argument argument )
              {
                  rtems_event_set event_out;
                  rtems_status_code status;
                  int linkStatus;
                  BOOT_PRINTF("in WTDG ***\n")
                  while(1)
                  {
                      // wait for an RTEMS_EVENT
                      rtems_event_receive( RTEMS_EVENT_0,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                      PRINTF("in WTDG *** wait for the link\n")
                      status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);        // get the link status
                      while( linkStatus != 5)                                             // wait for the link
                      {
                          rtems_task_wake_after( 10 );
                          status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status
                      }
                      status = spacewire_stop_start_link( fdSPW );
                      if (status != RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in WTDG *** ERR link not started %d\n", status)
                      }
                      else
                      {
                          PRINTF("in WTDG *** OK  link started\n")
                      }
                      // restart the SPIQ task
                      status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
                      if ( status != RTEMS_SUCCESSFUL ) {
                          PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
                      }
                      // restart RECV and SEND
                      status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                      if ( status != RTEMS_SUCCESSFUL ) {
                          PRINTF("in SPIQ *** ERR restarting SEND Task\n")
                      }
                      status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                      if ( status != RTEMS_SUCCESSFUL ) {
                          PRINTF("in SPIQ *** ERR restarting RECV Task\n")
                      }
                  }
              }
              //****************
              // OTHER FUNCTIONS
              int spacewire_open_link( void )
              {
                  /** This function opens the SpaceWire link.
                   *
                   * @return a valid file descriptor in case of success, -1 in case of a failure
                   *
                   */
                  rtems_status_code status;
                  fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
                  if ( fdSPW < 0 ) {
                      PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
                  }
                  else
                  {
                      status = RTEMS_SUCCESSFUL;
                  }
                  return status;
              }
              int spacewire_start_link( int fd )
              {
                  rtems_status_code status;
                  status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                      // -1 default hardcoded driver timeout
                  return status;
              }
              int spacewire_stop_start_link( int fd )
              {
                  rtems_status_code status;
                  status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP);      // start fails if link pDev->running != 0
                  status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                      // -1 default hardcoded driver timeout
                  return status;
              }
              int spacewire_configure_link( int fd )
              {
                  /** This function configures the SpaceWire link.
                   *
                   * @return GR-RTEMS-DRIVER directive status codes:
                   * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                   * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                   * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                   * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                   * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                   * - 5   EIO - Error when writing to grswp hardware registers.
                   * - 2   ENOENT - No such file or directory
                   */
                  rtems_status_code status;
                  spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                  spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                  //
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
                  //
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                  //
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                  //
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0);             // transmission blocks
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                  //
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);      // transmission blocks when no transmission descriptor is available
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                  //
                  status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                  if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                  return status;
              }
              int spacewire_reset_link( void )
              {
                  /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
                   * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
                   *
                   */
                  rtems_status_code status_spw;
                  int i;
                  for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
                  {
                      PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
                      // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
                      status_spw = spacewire_stop_start_link( fdSPW );
                      if (  status_spw != RTEMS_SUCCESSFUL )
                      {
                          PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
                      }
                      if ( status_spw == RTEMS_SUCCESSFUL)
                      {
                          break;
                      }
                  }
                  return status_spw;
              }
              void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
              {
                  /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                   *
                   * @param val is the value, 0 or 1, used to set the value of the NP bit.
                   * @param regAddr is the address of the GRSPW control register.
                   *
                   * NP is the bit 20 of the GRSPW control register.
                   *
                   */
                  unsigned int *spwptr = (unsigned int*) regAddr;
                  if (val == 1) {
                      *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                  }
                  if (val== 0) {
                      *spwptr = *spwptr & 0xffdfffff;
                  }
              }
              void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
              {
                  /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                   *
                   * @param val is the value, 0 or 1, used to set the value of the RE bit.
                   * @param regAddr is the address of the GRSPW control register.
                   *
                   * RE is the bit 16 of the GRSPW control register.
                   *
                   */
                  unsigned int *spwptr = (unsigned int*) regAddr;
                  if (val == 1)
                  {
                      *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                  }
                  if (val== 0)
                  {
                      *spwptr = *spwptr & 0xfffdffff;
                  }
              }
              void spacewire_compute_stats_offsets( void )
              {
                  /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
                   *
                   * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
                   * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
                   * during the open systel call).
                   *
                   */
                  spw_stats spacewire_stats_grspw;
                  rtems_status_code status;
                  status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                  spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
                          + spacewire_stats.packets_received;
                  spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
                          + spacewire_stats.packets_sent;
                  spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
                          + spacewire_stats.parity_err;
                  spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
                          + spacewire_stats.disconnect_err;
                  spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
                          + spacewire_stats.escape_err;
                  spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
                          + spacewire_stats.credit_err;
                  spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
                          + spacewire_stats.write_sync_err;
                  spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
                          + spacewire_stats.rx_rmap_header_crc_err;
                  spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
                          + spacewire_stats.rx_rmap_data_crc_err;
                  spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
                          + spacewire_stats.early_ep;
                  spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
                          + spacewire_stats.invalid_address;
                  spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
                          + spacewire_stats.rx_eep_err;
                  spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
                          + spacewire_stats.rx_truncated;
              }
              void spacewire_update_statistics( void )
              {
                  rtems_status_code status;
                  spw_stats spacewire_stats_grspw;
                  status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                  spacewire_stats.packets_received = spacewire_stats_backup.packets_received
                          + spacewire_stats_grspw.packets_received;
                  spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
                          + spacewire_stats_grspw.packets_sent;
                  spacewire_stats.parity_err = spacewire_stats_backup.parity_err
                          + spacewire_stats_grspw.parity_err;
                  spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
                          + spacewire_stats_grspw.disconnect_err;
                  spacewire_stats.escape_err = spacewire_stats_backup.escape_err
                          + spacewire_stats_grspw.escape_err;
                  spacewire_stats.credit_err = spacewire_stats_backup.credit_err
                          + spacewire_stats_grspw.credit_err;
                  spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
                          + spacewire_stats_grspw.write_sync_err;
                  spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
                          + spacewire_stats_grspw.rx_rmap_header_crc_err;
                  spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
                          + spacewire_stats_grspw.rx_rmap_data_crc_err;
                  spacewire_stats.early_ep = spacewire_stats_backup.early_ep
                          + spacewire_stats_grspw.early_ep;
                  spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
                          + spacewire_stats_grspw.invalid_address;
                  spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
                          +  spacewire_stats_grspw.rx_eep_err;
                  spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
                          + spacewire_stats_grspw.rx_truncated;
                  //spacewire_stats.tx_link_err;
                  //****************************
                  // DPU_SPACEWIRE_IF_STATISTICS
                  housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
                  housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
                  housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
                  housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
                  //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
                  //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
                  //******************************************
                  // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                  housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
                  housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
                  housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
                  housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
                  housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
                  //*********************************************
                  // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                  housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
                  housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
                  housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
                  housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
              }
              void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
              {
-                 //if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
-                 //    printf("In timecode_irq_handler *** Error sending event to DUMB\n");
-                 //}
+             //    rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 );
+                 struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
+                 grgpio_regs->io_port_direction_register =
+                         grgpio_regs->io_port_direction_register | 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
+                 if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
+                 {
+                     grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
+                 }
+                 else
+                 {
+                     grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08;
+                 }
              }
              rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
              {
                  int linkStatus;
                  rtems_status_code status;
                  status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
                  if ( linkStatus == 5) {
                      PRINTF("in spacewire_reset_link *** link is running\n")
                      status = RTEMS_SUCCESSFUL;
                  }
              }

src/tc_handler.c +38 -39

              /** Functions and tasks related to TeleCommand handling.
               *
               * @file
               * @author P. LEROY
               *
               * A group of functions to handle TeleCommands:\n
               * action launching\n
               * TC parsing\n
               * ...
               *
               */
              #include "tc_handler.h"
              //***********
              // RTEMS TASK
              rtems_task actn_task( rtems_task_argument unused )
              {
                  /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                   * on the incoming TeleCommand.
                   *
                   */
                  int result;
                  rtems_status_code status;       // RTEMS status code
                  ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
                  size_t size;                    // size of the incoming TC packet
                  unsigned char subtype;          // subtype of the current TC packet
                  unsigned char time[6];
                  rtems_id queue_rcv_id;
                  rtems_id queue_snd_id;
                  status =  get_message_queue_id_recv( &queue_rcv_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
                  }
                  status =  get_message_queue_id_send( &queue_snd_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
                  }
                  result = LFR_SUCCESSFUL;
                  subtype = 0;          // subtype of the current TC packet
                  BOOT_PRINTF("in ACTN *** \n")
                  while(1)
                  {
                      status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                           RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                      getTime( time );    // set time to the current time
                      if (status!=RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                      }
                      else
                      {
                          subtype = TC.serviceSubType;
                          switch(subtype)
                          {
                              case TC_SUBTYPE_RESET:
                                  result = action_reset( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_LOAD_COMM:
                                  result = action_load_common_par( &TC );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_LOAD_NORM:
                                  result = action_load_normal_par( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_LOAD_BURST:
                                  result = action_load_burst_par( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_LOAD_SBM1:
                                  result = action_load_sbm1_par( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_LOAD_SBM2:
                                  result = action_load_sbm2_par( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_DUMP:
                                  result = action_dump_par( queue_snd_id );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_ENTER:
                                  result = action_enter_mode( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_UPDT_INFO:
                                  result = action_update_info( &TC, queue_snd_id );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_EN_CAL:
                                  result = action_enable_calibration( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_DIS_CAL:
                                  result = action_disable_calibration( &TC, queue_snd_id, time );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              case TC_SUBTYPE_UPDT_TIME:
                                  result = action_update_time( &TC );
                                  close_action( &TC, result, queue_snd_id );
                                  break;
                                  //
                              default:
                                  break;
                          }
                      }
                  }
              }
              //***********
              // TC ACTIONS
              int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                   *
                   */
                  send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                  return LFR_DEFAULT;
              }
              int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                   *
                   */
                  rtems_status_code status;
                  unsigned char requestedMode;
                  requestedMode = TC->dataAndCRC[1];
                  if ( (requestedMode != LFR_MODE_STANDBY)
                       && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                       && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                  {
                      status = RTEMS_UNSATISFIED;
                      send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
                  }
                  else
                  {
                      printf("in action_enter_mode *** enter mode %d\n", requestedMode);
                      status = transition_validation(requestedMode);
                      if ( status == LFR_SUCCESSFUL ) {
                          if ( lfrCurrentMode != LFR_MODE_STANDBY)
                          {
                              status = stop_current_mode();
                          }
                          if (status != RTEMS_SUCCESSFUL)
                          {
                              PRINTF("ERR *** in action_enter *** stop_current_mode\n")
                          }
                          status = enter_mode( requestedMode );
                      }
                      else
                      {
                          PRINTF("ERR *** in action_enter *** transition rejected\n")
                          send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                      }
                  }
                  return status;
              }
              int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
              {
                  /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                   *
                   * @return LFR directive status code:
                   * - LFR_DEFAULT
                   * - LFR_SUCCESSFUL
                   *
                   */
                  unsigned int val;
                  int result;
                  unsigned int status;
                  unsigned char mode;
-                 // check LFR MODE
+                 // check LFR mode
                  mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET5 ] & 0x1e) >> 1;
                  status = check_update_info_hk_lfr_mode( mode );
-                 if (status != LFR_DEFAULT)  // check TDS mode
+                 if (status == LFR_SUCCESSFUL)  // check TDS mode
                  {
                      mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0xf0) >> 4;
                      status = check_update_info_hk_tds_mode( mode );
                  }
-                 if (status != LFR_DEFAULT)  // check THR mode
+                 if (status == LFR_SUCCESSFUL)  // check THR mode
                  {
                      mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0x0f);
                      status = check_update_info_hk_thr_mode( mode );
                  }
-                 if (status != LFR_DEFAULT)  // if the parameter check is successful
+                 if (status == LFR_SUCCESSFUL)  // if the parameter check is successful
                  {
                      val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
                              + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                      val++;
                      housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
                      housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                  }
                  result = status;
                  return result;
              }
              int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                   *
                   */
                  int result;
                  unsigned char lfrMode;
                  result = LFR_DEFAULT;
                  lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                  send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                  result = LFR_DEFAULT;
                  return result;
              }
              int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                   *
                   */
                  int result;
                  unsigned char lfrMode;
                  result = LFR_DEFAULT;
                  lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                  send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                  result = LFR_DEFAULT;
                  return result;
              }
              int action_update_time(ccsdsTelecommandPacket_t *TC)
              {
                  /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                   *
                   * @return LFR_SUCCESSFUL
                   *
                   */
                  unsigned int val;
                  time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                              + (TC->dataAndCRC[1] << 16)
                                                              + (TC->dataAndCRC[2] << 8)
                                                              + TC->dataAndCRC[3];
                  val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                          + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                  val++;
                  housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                  housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
-                 time_management_regs->ctrl = time_management_regs->ctrl | 1;
+             //    time_management_regs->ctrl = time_management_regs->ctrl | 1;    // force tick
                  return LFR_SUCCESSFUL;
              }
              //*******************
              // ENTERING THE MODES
              int transition_validation(unsigned char requestedMode)
              {
                  /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
                   *
                   * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
                   *
                   * @return LFR directive status codes:
                   * - LFR_SUCCESSFUL - the transition is authorized
                   * - LFR_DEFAULT - the transition is not authorized
                   *
                   */
                  int status;
                  switch (requestedMode)
                  {
                  case LFR_MODE_STANDBY:
                      if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                          status = LFR_DEFAULT;
                      }
                      else
                      {
                          status = LFR_SUCCESSFUL;
                      }
                      break;
                  case LFR_MODE_NORMAL:
                      if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                          status = LFR_DEFAULT;
                      }
                      else {
                          status = LFR_SUCCESSFUL;
                      }
                      break;
                  case LFR_MODE_BURST:
                      if ( lfrCurrentMode == LFR_MODE_BURST ) {
                          status = LFR_DEFAULT;
                      }
                      else {
                          status = LFR_SUCCESSFUL;
                      }
                      break;
                  case LFR_MODE_SBM1:
                      if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                          status = LFR_DEFAULT;
                      }
                      else {
                          status = LFR_SUCCESSFUL;
                      }
                      break;
                  case LFR_MODE_SBM2:
                      if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                          status = LFR_DEFAULT;
                      }
                      else {
                          status = LFR_SUCCESSFUL;
                      }
                      break;
                  default:
                      status = LFR_DEFAULT;
                      break;
                  }
                  return status;
              }
              int stop_current_mode(void)
              {
                  /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                   *
                   * @return RTEMS directive status codes:
                   * - RTEMS_SUCCESSFUL - task restarted successfully
                   * - RTEMS_INVALID_ID - task id invalid
                   * - RTEMS_ALREADY_SUSPENDED - task already suspended
                   *
                   */
                  rtems_status_code status;
                  status = RTEMS_SUCCESSFUL;
                  // (1) mask interruptions
                  LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                  LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                  // (2) clear interruptions
                  LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                  LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                  // (3) reset registers
                  // waveform picker
                  reset_wfp_burst_enable();                       // reset burst and enable bits
                  reset_wfp_status();                             // reset all the status bits
                  // spectral matrices
                  set_irq_on_new_ready_matrix( 0 );               // stop the spectral matrices
                  set_run_matrix_spectral( 0 );                   // run_matrix_spectral is set to 0
                  reset_extractSWF();                             // reset the extractSWF flag to false
                  // <Spectral Matrices simulator>
                  LEON_Mask_interrupt( IRQ_SM_SIMULATOR );                  // mask spectral matrix interrupt simulator
                  timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                  LEON_Clear_interrupt( IRQ_SM_SIMULATOR );                 // clear spectral matrix interrupt simulator
                  // </Spectral Matrices simulator>
                  // suspend several tasks
                  if (lfrCurrentMode != LFR_MODE_STANDBY) {
                      status = suspend_science_tasks();
                  }
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                  }
                  return status;
              }
              int enter_mode(unsigned char mode )
              {
                  /** This function is launched after a mode transition validation.
                   *
                   * @param mode is the mode in which LFR will be put.
                   *
                   * @return RTEMS directive status codes:
                   * - RTEMS_SUCCESSFUL - the mode has been entered successfully
                   * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
                   *
                   */
                  rtems_status_code status;
                  status = RTEMS_UNSATISFIED;
                  housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
                  updateLFRCurrentMode();
                  if ( (mode == LFR_MODE_NORMAL) || (mode == LFR_MODE_BURST)
                       || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2) )
                  {
              #ifdef PRINT_TASK_STATISTICS
                      rtems_cpu_usage_reset();
                      maxCount = 0;
              #endif
                      status = restart_science_tasks();
                      launch_waveform_picker( mode );
                      launch_spectral_matrix( mode );
                  }
                  else if ( mode == LFR_MODE_STANDBY )
                  {
              #ifdef PRINT_TASK_STATISTICS
                      rtems_cpu_usage_report();
              #endif
              #ifdef PRINT_STACK_REPORT
                      rtems_stack_checker_report_usage();
              #endif
                      status = stop_current_mode();
                      PRINTF1("maxCount = %d\n", maxCount)
                  }
                  else
                  {
                      status = RTEMS_UNSATISFIED;
                  }
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in enter_mode *** ERR = %d\n", status)
                      status = RTEMS_UNSATISFIED;
                  }
                  return status;
              }
              int restart_science_tasks()
              {
                  /** This function is used to restart all science tasks.
                   *
                   * @return RTEMS directive status codes:
                   * - RTEMS_SUCCESSFUL - task restarted successfully
                   * - RTEMS_INVALID_ID - task id invalid
                   * - RTEMS_INCORRECT_STATE - task never started
                   * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                   *
                   * Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1
                   *
                   */
                  rtems_status_code status[6];
                  rtems_status_code ret;
                  ret = RTEMS_SUCCESSFUL;
                  status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
                  if (status[0] != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
                  }
                  status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                  if (status[2] != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
                  }
                  status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                  if (status[3] != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
                  }
                  status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                  if (status[4] != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
                  }
                  status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                  if (status[5] != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
                  }
                  if ( (status[0] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                       (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                  {
                      ret = RTEMS_UNSATISFIED;
                  }
                  return ret;
              }
              int suspend_science_tasks()
              {
                  /** This function suspends the science tasks.
                   *
                   * @return RTEMS directive status codes:
                   * - RTEMS_SUCCESSFUL - task restarted successfully
                   * - RTEMS_INVALID_ID - task id invalid
                   * - RTEMS_ALREADY_SUSPENDED - task already suspended
                   *
                   */
                  rtems_status_code status;
                  status = rtems_task_suspend( Task_id[TASKID_AVF0] );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                  }
                  if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                  {
                      status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                      if (status != RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                      }
                  }
                  if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                  {
                      status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                      if (status != RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                      }
                  }
                  if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                  {
                      status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                      if (status != RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                      }
                  }
                  if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                  {
                      status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                      if (status != RTEMS_SUCCESSFUL)
                      {
                          PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                      }
                  }
                  return status;
              }
              void launch_waveform_picker( unsigned char mode )
              {
                  int startDate;
                  reset_current_ring_nodes();
                  reset_waveform_picker_regs();
                  set_wfp_burst_enable_register( mode );
                  LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                  LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                  startDate = time_management_regs->coarse_time + 2;
                  waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000]
                  waveform_picker_regs->start_date = startDate;
              }
              void launch_spectral_matrix( unsigned char mode )
              {
                  reset_nb_sm_f0();
                  reset_current_sm_ring_nodes();
                  reset_spectral_matrix_regs();
              #ifdef VHDL_DEV
                  set_irq_on_new_ready_matrix( 1 );
                  LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                  LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
                  set_run_matrix_spectral( 1 );
              #else
                  // Spectral Matrices simulator
                  timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                  LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
                  LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
              #endif
              }
              void set_irq_on_new_ready_matrix( unsigned char value )
              {
                  if (value == 1)
                  {
                      spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01;
                  }
                  else
                  {
                      spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe;   // 1110
                  }
              }
              void set_run_matrix_spectral( unsigned char value )
              {
                  if (value == 1)
                  {
-                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x4;  // 0100 set run_matrix spectral to 1
+                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x4;  // [0100] set run_matrix spectral to 1
                  }
                  else
                  {
-                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb;  // 1011 set run_matrix spectral to 0
+                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb;  // [1011] set run_matrix spectral to 0
                  }
              }
              void launch_spectral_matrix_simu( unsigned char mode )
              {
                  reset_nb_sm_f0();
                  reset_current_sm_ring_nodes();
                  reset_spectral_matrix_regs();
                  // Spectral Matrices simulator
                  timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                  LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
                  LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
                  set_local_nb_interrupt_f0_MAX();
              }
              //****************
              // CLOSING ACTIONS
-             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
+             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
              {
                  /** This function is used to update the HK packets statistics after a successful TC execution.
                   *
                   * @param TC points to the TC being processed
                   * @param time is the time used to date the TC execution
                   *
                   */
+                 unsigned int val;
                  housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                  housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                  housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                  housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                  housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                  housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
-                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
-                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
+                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
+                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
+                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
+                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
+                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
+                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
+                 val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
+                 val++;
+                 housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
+                 housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
              }
-             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC )
+             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
              {
                  /** This function is used to update the HK packets statistics after a TC rejection.
                   *
                   * @param TC points to the TC being processed
                   * @param time is the time used to date the TC rejection
                   *
                   */
+                 unsigned int val;
                  housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                  housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                  housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                  housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                  housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                  housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
-                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
-                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
+                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
+                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
+                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
+                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
+                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
+                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
+                 val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
+                 val++;
+                 housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
+                 housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
              }
              void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
              {
                  /** This function is the last step of the TC execution workflow.
                   *
                   * @param TC points to the TC being processed
                   * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
                   * @param queue_id is the id of the RTEMS message queue used to send TM packets
                   * @param time is the time used to date the TC execution
                   *
                   */
-                 unsigned int val = 0;
                  if (result == LFR_SUCCESSFUL)
                  {
-                     if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
-                          &&
-                          !( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
+                     if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
+                          &
+                          !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
                           )
                      {
                          send_tm_lfr_tc_exe_success( TC, queue_id );
                      }
-                     update_last_TC_exe( TC );
-                     val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
-                     val++;
-                     housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
-                     housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
+                 }
-                 else
+                 {
-                     update_last_TC_rej( TC );
-                     val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
-                     val++;
-                     housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
-                     housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
                  }
              }
              //***************************
              // Interrupt Service Routines
              rtems_isr commutation_isr1( rtems_vector_number vector )
              {
                  if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                      printf("In commutation_isr1 *** Error sending event to DUMB\n");
                  }
              }
              rtems_isr commutation_isr2( rtems_vector_number vector )
              {
                  if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                      printf("In commutation_isr2 *** Error sending event to DUMB\n");
                  }
              }
              //****************
              // OTHER FUNCTIONS
              void updateLFRCurrentMode()
              {
                  /** This function updates the value of the global variable lfrCurrentMode.
                   *
                   * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
                   *
                   */
                  // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
                  lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
              }

src/tc_load_dump_parameters.c +3 -3

              /** Functions to load and dump parameters in the LFR registers.
               *
               * @file
               * @author P. LEROY
               *
               * A group of functions to handle TC related to parameter loading and dumping.\n
               * TC_LFR_LOAD_COMMON_PAR\n
               * TC_LFR_LOAD_NORMAL_PAR\n
               * TC_LFR_LOAD_BURST_PAR\n
               * TC_LFR_LOAD_SBM1_PAR\n
               * TC_LFR_LOAD_SBM2_PAR\n
               *
               */
              #include "tc_load_dump_parameters.h"
              int action_load_common_par(ccsdsTelecommandPacket_t *TC)
              {
                  /** This function updates the LFR registers with the incoming common parameters.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   *
                   *
                   */
                  parameter_dump_packet.unused0 = TC->dataAndCRC[0];
                  parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
                  set_wfp_data_shaping( );
                  return LFR_SUCCESSFUL;
              }
              int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function updates the LFR registers with the incoming normal parameters.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int result;
                  int flag;
                  rtems_status_code status;
                  flag = LFR_SUCCESSFUL;
                  if ( (lfrCurrentMode == LFR_MODE_NORMAL) ||
                       (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) ) {
                      status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                      flag = LFR_DEFAULT;
                  }
                  //***************
                  // sy_lfr_n_swf_l
                  if (flag == LFR_SUCCESSFUL)
                  {
                      result = set_sy_lfr_n_swf_l( TC, queue_id, time );
                      if (result != LFR_SUCCESSFUL)
                      {
                          flag = LFR_DEFAULT;
                      }
                  }
                  //***************
                  // sy_lfr_n_swf_p
                  if (flag == LFR_SUCCESSFUL)
                  {
                      result = set_sy_lfr_n_swf_p( TC, queue_id, time );
                      if (result != LFR_SUCCESSFUL)
                      {
                          flag = LFR_DEFAULT;
                      }
                  }
                  //***************
                  // sy_lfr_n_asm_p
                  if (flag == LFR_SUCCESSFUL)
                  {
                      result = set_sy_lfr_n_asm_p( TC, queue_id );
                      if (result != LFR_SUCCESSFUL)
                      {
                          flag = LFR_DEFAULT;
                      }
                  }
                  //***************
                  // sy_lfr_n_bp_p0
                  if (flag == LFR_SUCCESSFUL)
                  {
                      result = set_sy_lfr_n_bp_p0( TC, queue_id );
                      if (result != LFR_SUCCESSFUL)
                      {
                          flag = LFR_DEFAULT;
                      }
                  }
                  //***************
                  // sy_lfr_n_bp_p1
                  if (flag == LFR_SUCCESSFUL)
                  {
                      result = set_sy_lfr_n_bp_p1( TC, queue_id );
                      if (result != LFR_SUCCESSFUL)
                      {
                          flag = LFR_DEFAULT;
                      }
                  }
                  //*********************
                  // sy_lfr_n_cwf_long_f3
                  if (flag == LFR_SUCCESSFUL)
                  {
                      result = set_sy_lfr_n_cwf_long_f3( TC, queue_id );
                      if (result != LFR_SUCCESSFUL)
                      {
                          flag = LFR_DEFAULT;
                      }
                  }
                  return flag;
              }
              int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function updates the LFR registers with the incoming burst parameters.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int result;
                  unsigned char lfrMode;
                  rtems_status_code status;
                  result = LFR_DEFAULT;
                  lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                  if ( lfrMode == LFR_MODE_BURST ) {
                      status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                      result = LFR_DEFAULT;
                  }
                  else {
                      parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[0];
                      parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[1];
                      result = LFR_SUCCESSFUL;
                  }
                  return result;
              }
              int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function updates the LFR registers with the incoming sbm1 parameters.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int result;
                  unsigned char lfrMode;
                  rtems_status_code status;
                  result = LFR_DEFAULT;
                  lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                  if ( (lfrMode == LFR_MODE_SBM1) || (lfrMode == LFR_MODE_SBM2) ) {
                      status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                      result = LFR_DEFAULT;
                  }
                  else {
                      parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[0];
                      parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[1];
                      result = LFR_SUCCESSFUL;
                  }
                  return result;
              }
              int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
              {
                  /** This function updates the LFR registers with the incoming sbm2 parameters.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int result;
                  unsigned char lfrMode;
                  rtems_status_code status;
                  result = LFR_DEFAULT;
                  lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                  if ( (lfrMode == LFR_MODE_SBM1) || (lfrMode == LFR_MODE_SBM2) ) {
                      status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                      result = LFR_DEFAULT;
                  }
                  else {
                      parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[0];
                      parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[1];
                      result = LFR_SUCCESSFUL;
                  }
                  return result;
              }
              int action_dump_par( rtems_id queue_id )
              {
                  /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                   *
                   * @param queue_id is the id of the queue which handles TM related to this execution step.
                   *
                   * @return RTEMS directive status codes:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  int status;
                  // UPDATE TIME
                  increment_seq_counter( parameter_dump_packet.packetSequenceControl );
                  parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                      PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                  }
                  return status;
              }
              //***********************
              // NORMAL MODE PARAMETERS
              int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
              {
                  /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  unsigned int tmp;
                  int result;
                  unsigned char msb;
                  unsigned char lsb;
                  rtems_status_code status;
                  msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L ];
                  lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L+1 ];
                  tmp = ( unsigned int ) floor(
                              ( ( msb*256 ) + lsb ) / 16
                          ) * 16;
                  if ( (tmp < 16) || (tmp > 2048) )   // the snapshot period is a multiple of 16
                  {                                   // 2048 is the maximum limit due to the size of the buffers
                      status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_L+10, lsb );
                      result = WRONG_APP_DATA;
                  }
                  else if (tmp != 2048)
                  {
                      status = send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                      result = FUNCT_NOT_IMPL;
                  }
                  else
                  {
                      parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (tmp >> 8);
                      parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (tmp     );
                      result = LFR_SUCCESSFUL;
                  }
                  return result;
              }
              int set_sy_lfr_n_swf_p(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time)
              {
                  /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  unsigned int tmp;
                  int result;
                  unsigned char msb;
                  unsigned char lsb;
                  rtems_status_code status;
                  msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P ];
                  lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P+1 ];
                  tmp = msb * 256  + lsb;
                  if ( tmp < 16 )
                  {
                      status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_P+10, lsb );
                      result = WRONG_APP_DATA;
                  }
                  else
                  {
                      parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (tmp >> 8);
                      parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (tmp     );
                      result = LFR_SUCCESSFUL;
                  }
                  return result;
              }
              int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
              {
                  /** This function sets the time between two full spectral matrices transmission, in s (SY_LFR_N_ASM_P).
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int result;
                  unsigned char msb;
                  unsigned char lsb;
                  msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P ];
                  lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P+1 ];
                  parameter_dump_packet.sy_lfr_n_asm_p[0] = msb;
                  parameter_dump_packet.sy_lfr_n_asm_p[1] = lsb;
                  result = LFR_SUCCESSFUL;
                  return result;
              }
              int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
              {
                  /** This function sets the time between two basic parameter sets, in s (SY_LFR_N_BP_P0).
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int status;
                  status = LFR_SUCCESSFUL;
                  parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P0 ];
                  return status;
              }
              int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
              {
                  /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int status;
                  status = LFR_SUCCESSFUL;
                  parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P1 ];
                  return status;
              }
              int set_sy_lfr_n_cwf_long_f3(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
              {
                  /** This function allows to switch from CWF_F3 packets to CWF_LONG_F3 packets.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM related to this execution step
                   *
                   */
                  int status;
                  status = LFR_SUCCESSFUL;
                  parameter_dump_packet.sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_CWF_LONG_F3 ];
                  return status;
              }
              //**********************
              // BURST MODE PARAMETERS
              //*********************
              // SBM1 MODE PARAMETERS
              //*********************
              // SBM2 MODE PARAMETERS
              //*******************
              // TC_LFR_UPDATE_INFO
              unsigned int check_update_info_hk_lfr_mode( unsigned char mode )
              {
                  unsigned int status;
                  if ( (mode == LFR_MODE_STANDBY) || (mode == LFR_MODE_NORMAL)
-                      || (mode = LFR_MODE_BURST)
+                      || (mode == LFR_MODE_BURST)
                       || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2))
                  {
                      status = LFR_SUCCESSFUL;
                  }
                  else
                  {
                      status = LFR_DEFAULT;
                  }
                  return status;
              }
              unsigned int check_update_info_hk_tds_mode( unsigned char mode )
              {
                  unsigned int status;
                  if ( (mode == TDS_MODE_STANDBY) || (mode == TDS_MODE_NORMAL)
-                      || (mode = TDS_MODE_BURST)
+                      || (mode == TDS_MODE_BURST)
                       || (mode == TDS_MODE_SBM1) || (mode == TDS_MODE_SBM2)
                       || (mode == TDS_MODE_LFM))
                  {
                      status = LFR_SUCCESSFUL;
                  }
                  else
                  {
                      status = LFR_DEFAULT;
                  }
                  return status;
              }
              unsigned int check_update_info_hk_thr_mode( unsigned char mode )
              {
                  unsigned int status;
                  if ( (mode == THR_MODE_STANDBY) || (mode == THR_MODE_NORMAL)
-                      || (mode = THR_MODE_BURST))
+                      || (mode == THR_MODE_BURST))
                  {
                      status = LFR_SUCCESSFUL;
                  }
                  else
                  {
                      status = LFR_DEFAULT;
                  }
                  return status;
              }
              //**********
              // init dump
              void init_parameter_dump( void )
              {
                  /** This function initialize the parameter_dump_packet global variable with default values.
                   *
                   */
                  parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  parameter_dump_packet.reserved = CCSDS_RESERVED;
                  parameter_dump_packet.userApplication = CCSDS_USER_APP;
                  parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
                  parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
                  parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                  parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                  parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                  parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                  // DATA FIELD HEADER
                  parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                  parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                  parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                  parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                  parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                  parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                  //******************
                  // COMMON PARAMETERS
                  parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
                  parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
                  //******************
                  // NORMAL PARAMETERS
                  parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (SY_LFR_N_SWF_L >> 8);
                  parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (SY_LFR_N_SWF_L     );
                  parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (SY_LFR_N_SWF_P >> 8);
                  parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (SY_LFR_N_SWF_P     );
                  parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (SY_LFR_N_ASM_P >> 8);
                  parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (SY_LFR_N_ASM_P     );
                  parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) SY_LFR_N_BP_P0;
                  parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) SY_LFR_N_BP_P1;
                  parameter_dump_packet.sy_lfr_n_cwf_long_f3 = (unsigned char) SY_LFR_N_CWF_LONG_F3;
                  //*****************
                  // BURST PARAMETERS
                  parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                  parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                  //****************
                  // SBM1 PARAMETERS
                  parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                  parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                  //****************
                  // SBM2 PARAMETERS
                  parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                  parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
              }

src/tm_lfr_tc_exe.c +18 0

              /** Functions to send TM packets related to TC parsing and execution.
               *
               * @file
               * @author P. LEROY
               *
               * A group of functions to send appropriate TM packets after parsing and execution:
               * - TM_LFR_TC_EXE_SUCCESS
               * - TM_LFR_TC_EXE_INCONSISTENT
               * - TM_LFR_TC_EXE_NOT_EXECUTABLE
               * - TM_LFR_TC_EXE_NOT_IMPLEMENTED
               * - TM_LFR_TC_EXE_ERROR
               * - TM_LFR_TC_EXE_CORRUPTED
               *
               */
              #include "tm_lfr_tc_exe.h"
              int send_tm_lfr_tc_exe_success( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
              {
                  /** This function sends a TM_LFR_TC_EXE_SUCCESS packet in the dedicated RTEMS message queue.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  rtems_status_code status;
                  Packet_TM_LFR_TC_EXE_SUCCESS_t TM;
                  unsigned char messageSize;
                  TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  TM.reserved = DEFAULT_RESERVED;
                  TM.userApplication = CCSDS_USER_APP;
                  // PACKET HEADER
                  TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                  TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                  increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                  TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS >> 8);
                  TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS     );
                  // DATA FIELD HEADER
                  TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                  TM.serviceType = TM_TYPE_TC_EXE;
                  TM.serviceSubType = TM_SUBTYPE_EXE_OK;
                  TM.destinationID = TC->sourceID;
                  TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                  //
                  TM.telecommand_pkt_id[0] = TC->packetID[0];
                  TM.telecommand_pkt_id[1] = TC->packetID[1];
                  TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                  TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                  messageSize = PACKET_LENGTH_TC_EXE_SUCCESS + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
                  }
+                 // UPDATE HK FIELDS
+                 update_last_TC_exe( TC, TM.time );
                  return status;
              }
              int send_tm_lfr_tc_exe_inconsistent( ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                                  unsigned char byte_position, unsigned char rcv_value )
              {
                  /** This function sends a TM_LFR_TC_EXE_INCONSISTENT packet in the dedicated RTEMS message queue.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM
                   * @param byte_position is the byte position of the MSB of the parameter that has been seen as inconsistent
                   * @param rcv_value  is the value of the LSB of the parameter that has been deteced as inconsistent
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  rtems_status_code status;
                  Packet_TM_LFR_TC_EXE_INCONSISTENT_t TM;
                  unsigned char messageSize;
                  TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  TM.reserved = DEFAULT_RESERVED;
                  TM.userApplication = CCSDS_USER_APP;
                  // PACKET HEADER
                  TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                  TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                  increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                  TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT >> 8);
                  TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT     );
                  // DATA FIELD HEADER
                  TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                  TM.serviceType = TM_TYPE_TC_EXE;
                  TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                  TM.destinationID = TC->sourceID;
                  TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                  //
                  TM.tc_failure_code[0] = (char) (WRONG_APP_DATA >> 8);
                  TM.tc_failure_code[1] = (char) (WRONG_APP_DATA     );
                  TM.telecommand_pkt_id[0] = TC->packetID[0];
                  TM.telecommand_pkt_id[1] = TC->packetID[1];
                  TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                  TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                  TM.tc_service = TC->serviceType;      // type of the rejected TC
                  TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                  TM.byte_position = byte_position;
                  TM.rcv_value = rcv_value;
                  messageSize = PACKET_LENGTH_TC_EXE_INCONSISTENT + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF("in send_tm_lfr_tc_exe_inconsistent *** ERR\n")
                  }
+                 // UPDATE HK FIELDS
+                 update_last_TC_rej( TC, TM.time );
                  return status;
              }
              int send_tm_lfr_tc_exe_not_executable( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
              {
                  /** This function sends a TM_LFR_TC_EXE_NOT_EXECUTABLE packet in the dedicated RTEMS message queue.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  rtems_status_code status;
                  Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t TM;
                  unsigned char messageSize;
                  TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  TM.reserved = DEFAULT_RESERVED;
                  TM.userApplication = CCSDS_USER_APP;
                  // PACKET HEADER
                  TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                  TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                  increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                  TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE >> 8);
                  TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     );
                  // DATA FIELD HEADER
                  TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                  TM.serviceType = TM_TYPE_TC_EXE;
                  TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                  TM.destinationID = TC->sourceID;    // default destination id
                  TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                  //
                  TM.tc_failure_code[0] = (char) (TC_NOT_EXE >> 8);
                  TM.tc_failure_code[1] = (char) (TC_NOT_EXE     );
                  TM.telecommand_pkt_id[0] = TC->packetID[0];
                  TM.telecommand_pkt_id[1] = TC->packetID[1];
                  TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                  TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                  TM.tc_service = TC->serviceType;      // type of the rejected TC
                  TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                  TM.lfr_status_word[0] = housekeeping_packet.lfr_status_word[0];
                  TM.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1];
                  messageSize = PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF("in send_tm_lfr_tc_exe_not_executable *** ERR\n")
                  }
+                 // UPDATE HK FIELDS
+                 update_last_TC_rej( TC, TM.time );
                  return status;
              }
              int send_tm_lfr_tc_exe_not_implemented( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
              {
                  /** This function sends a TM_LFR_TC_EXE_NOT_IMPLEMENTED packet in the dedicated RTEMS message queue.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  rtems_status_code status;
                  Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t TM;
                  unsigned char messageSize;
                  TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  TM.reserved = DEFAULT_RESERVED;
                  TM.userApplication = CCSDS_USER_APP;
                  // PACKET HEADER
                  TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                  TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                  increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                  TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED >> 8);
                  TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED     );
                  // DATA FIELD HEADER
                  TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                  TM.serviceType = TM_TYPE_TC_EXE;
                  TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                  TM.destinationID = TC->sourceID;    // default destination id
                  TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                  //
                  TM.tc_failure_code[0] = (char) (FUNCT_NOT_IMPL >> 8);
                  TM.tc_failure_code[1] = (char) (FUNCT_NOT_IMPL     );
                  TM.telecommand_pkt_id[0] = TC->packetID[0];
                  TM.telecommand_pkt_id[1] = TC->packetID[1];
                  TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                  TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                  TM.tc_service = TC->serviceType;      // type of the rejected TC
                  TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                  messageSize = PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF("in send_tm_lfr_tc_exe_not_implemented *** ERR\n")
                  }
+                 // UPDATE HK FIELDS
+                 update_last_TC_rej( TC, TM.time );
                  return status;
              }
              int send_tm_lfr_tc_exe_error( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
              {
                  /** This function sends a TM_LFR_TC_EXE_ERROR packet in the dedicated RTEMS message queue.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  rtems_status_code status;
                  Packet_TM_LFR_TC_EXE_ERROR_t TM;
                  unsigned char messageSize;
                  TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  TM.reserved = DEFAULT_RESERVED;
                  TM.userApplication = CCSDS_USER_APP;
                  // PACKET HEADER
                  TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                  TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                  increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                  TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR >> 8);
                  TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR     );
                  // DATA FIELD HEADER
                  TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                  TM.serviceType = TM_TYPE_TC_EXE;
                  TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                  TM.destinationID = TC->sourceID;    // default destination id
                  TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                  //
                  TM.tc_failure_code[0] = (char) (FAIL_DETECTED >> 8);
                  TM.tc_failure_code[1] = (char) (FAIL_DETECTED     );
                  TM.telecommand_pkt_id[0] = TC->packetID[0];
                  TM.telecommand_pkt_id[1] = TC->packetID[1];
                  TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                  TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                  TM.tc_service = TC->serviceType;      // type of the rejected TC
                  TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                  messageSize = PACKET_LENGTH_TC_EXE_ERROR + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                  }
+                 // UPDATE HK FIELDS
+                 update_last_TC_rej( TC, TM.time );
                  return status;
              }
              int send_tm_lfr_tc_exe_corrupted(ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                               unsigned char *computed_CRC, unsigned char *currentTC_LEN_RCV,
                                               unsigned char destinationID )
              {
                  /** This function sends a TM_LFR_TC_EXE_CORRUPTED packet in the dedicated RTEMS message queue.
                   *
                   * @param TC points to the TeleCommand packet that is being processed
                   * @param queue_id is the id of the queue which handles TM
                   * @param computed_CRC points to a buffer of two bytes containing the CRC computed during the parsing of the TeleCommand
                   * @param currentTC_LEN_RCV points to a buffer of two bytes containing a packet size field computed on the received data
                   *
                   * @return RTEMS directive status code:
                   * - RTEMS_SUCCESSFUL - message sent successfully
                   * - RTEMS_INVALID_ID - invalid queue id
                   * - RTEMS_INVALID_SIZE - invalid message size
                   * - RTEMS_INVALID_ADDRESS - buffer is NULL
                   * - RTEMS_UNSATISFIED - out of message buffers
                   * - RTEMS_TOO_MANY - queue s limit has been reached
                   *
                   */
                  rtems_status_code status;
                  Packet_TM_LFR_TC_EXE_CORRUPTED_t TM;
                  unsigned char messageSize;
                  unsigned int packetLength;
                  unsigned char *packetDataField;
                  packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];   // compute the packet length parameter
                  packetDataField = (unsigned char *) &TC->headerFlag_pusVersion_Ack; // get the beginning of the data field
                  TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                  TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                  TM.reserved = DEFAULT_RESERVED;
                  TM.userApplication = CCSDS_USER_APP;
                  // PACKET HEADER
                  TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                  TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                  increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                  TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED >> 8);
                  TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED     );
                  // DATA FIELD HEADER
                  TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                  TM.serviceType = TM_TYPE_TC_EXE;
                  TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                  TM.destinationID = destinationID;
                  TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                  TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                  TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                  TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                  TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                  TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                  //
                  TM.tc_failure_code[0] = (unsigned char) (CORRUPTED >> 8);
                  TM.tc_failure_code[1] = (unsigned char) (CORRUPTED     );
                  TM.telecommand_pkt_id[0] = TC->packetID[0];
                  TM.telecommand_pkt_id[1] = TC->packetID[1];
                  TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                  TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                  TM.tc_service = TC->serviceType;      // type of the rejected TC
                  TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                  TM.pkt_len_rcv_value[0] = TC->packetLength[0];
                  TM.pkt_len_rcv_value[1] = TC->packetLength[1];
                  TM.pkt_datafieldsize_cnt[0] = currentTC_LEN_RCV[0];
                  TM.pkt_datafieldsize_cnt[1] = currentTC_LEN_RCV[1];
                  TM.rcv_crc[0] = packetDataField[ packetLength - 1 ];
                  TM.rcv_crc[1] = packetDataField[ packetLength ];
                  TM.computed_crc[0] = computed_CRC[0];
                  TM.computed_crc[1] = computed_CRC[1];
                  messageSize = PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                  // SEND DATA
                  status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                  if (status != RTEMS_SUCCESSFUL) {
                      PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                  }
+                 // UPDATE HK FIELDS
+                 update_last_TC_rej( TC, TM.time );
                  return status;
              }
              void increment_seq_counter_destination_id( unsigned char *packet_sequence_control, unsigned char destination_id )
              {
                  /** This function increment the packet sequence control parameter of a TC, depending on its destination ID.
                   *
                   * @param packet_sequence_control points to the packet sequence control which will be incremented
                   * @param destination_id is the destination ID of the TM, there is one counter by destination ID
                   *
                   * If the destination ID is not known, a dedicated counter is incremented.
                   *
                   */
                  unsigned short sequence_cnt;
                  unsigned short segmentation_grouping_flag;
                  unsigned short new_packet_sequence_control;
                  unsigned char i;
                  switch (destination_id)
                  {
                  case SID_TC_GROUND:
                      i = GROUND;
                      break;
                  case SID_TC_MISSION_TIMELINE:
                      i = MISSION_TIMELINE;
                      break;
                  case SID_TC_TC_SEQUENCES:
                      i = TC_SEQUENCES;
                      break;
                  case SID_TC_RECOVERY_ACTION_CMD:
                      i = RECOVERY_ACTION_CMD;
                      break;
                  case SID_TC_BACKUP_MISSION_TIMELINE:
                      i = BACKUP_MISSION_TIMELINE;
                      break;
                  case SID_TC_DIRECT_CMD:
                      i = DIRECT_CMD;
                      break;
                  case SID_TC_SPARE_GRD_SRC1:
                      i = SPARE_GRD_SRC1;
                      break;
                  case SID_TC_SPARE_GRD_SRC2:
                      i = SPARE_GRD_SRC2;
                      break;
                  case SID_TC_OBCP:
                      i = OBCP;
                      break;
                  case SID_TC_SYSTEM_CONTROL:
                      i = SYSTEM_CONTROL;
                      break;
                  case SID_TC_AOCS:
                      i = AOCS;
                      break;
                  case SID_TC_RPW_INTERNAL:
                      i = RPW_INTERNAL;
                      break;
                  default:
                      i = GROUND;
                      break;
                  }
                  // increment the sequence counter
                  if ( sequenceCounters_TC_EXE[ i ] < SEQ_CNT_MAX )
                  {
                      sequenceCounters_TC_EXE[ i ] = sequenceCounters_TC_EXE[ i ] + 1;
                  }
                  else
                  {
                      sequenceCounters_TC_EXE[ i ] = 0;
                  }
                  segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                  sequence_cnt                = sequenceCounters_TC_EXE[ i ] & 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     );
              }

src/wf_handler.c +1 -6

              /** Functions and tasks related to waveform packet generation.
               *
               * @file
               * @author P. LEROY
               *
               * A group of functions to handle waveforms, in snapshot or continuous format.\n
               *
               */
              #include "wf_handler.h"
              //*****************
              // waveform headers
              // 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[       NB_PACKETS_PER_GROUP_OF_CWF         ];
              Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_BURST[ NB_PACKETS_PER_GROUP_OF_CWF         ];
              Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM2[  NB_PACKETS_PER_GROUP_OF_CWF         ];
              Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3[       NB_PACKETS_PER_GROUP_OF_CWF         ];
              Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3_light[ NB_PACKETS_PER_GROUP_OF_CWF_LIGHT   ];
              //**************
              // waveform ring
              ring_node waveform_ring_f0[NB_RING_NODES_F0];
              ring_node waveform_ring_f1[NB_RING_NODES_F1];
              ring_node waveform_ring_f2[NB_RING_NODES_F2];
              ring_node *current_ring_node_f0;
              ring_node *ring_node_to_send_swf_f0;
              ring_node *current_ring_node_f1;
              ring_node *ring_node_to_send_swf_f1;
              ring_node *ring_node_to_send_cwf_f1;
              ring_node *current_ring_node_f2;
              ring_node *ring_node_to_send_swf_f2;
              ring_node *ring_node_to_send_cwf_f2;
              bool extractSWF = false;
              bool swf_f0_ready = false;
              bool swf_f1_ready = false;
              bool swf_f2_ready = false;
              int wf_snap_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) + TIME_OFFSET ];
              //*********************
              // Interrupt SubRoutine
              void reset_extractSWF( void )
              {
                  extractSWF = false;
                  swf_f0_ready = false;
                  swf_f1_ready = false;
                  swf_f2_ready = false;
              }
              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_status_code status;
                  static unsigned char nb_swf = 0;
                  if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                       || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                  { // in modes other than STANDBY and BURST, send the CWF_F3 data
                      if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                          // (1) change the receiving buffer for the waveform picker
                          if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3_a) {
                              waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_b);
                          }
                          else {
                              waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_a);
                          }
                          // (2) send an event for the waveforms transmission
                          if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                              rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                          }
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
                      }
                  }
                  switch(lfrCurrentMode)
                  {
                      //********
                      // STANDBY
                      case(LFR_MODE_STANDBY):
                      break;
                      //******
                      // NORMAL
                      case(LFR_MODE_NORMAL):
                      if ( (waveform_picker_regs->status & 0xff8) != 0x00)    // [1000] check the error bits
                      {
                          rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                      }
                      if ( (waveform_picker_regs->status & 0x07) == 0x07)    // [0111] check the f2, f1, f0 full bits
                      {
                          // change F0 ring node
                          ring_node_to_send_swf_f0 = current_ring_node_f0;
                          current_ring_node_f0 = current_ring_node_f0->next;
                          waveform_picker_regs->addr_data_f0 = current_ring_node_f0->buffer_address;
                          // change F1 ring node
                          ring_node_to_send_swf_f1 = current_ring_node_f1;
                          current_ring_node_f1 = current_ring_node_f1->next;
                          waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address;
                          // change F2 ring node
                          ring_node_to_send_swf_f2 = current_ring_node_f2;
                          current_ring_node_f2 = current_ring_node_f2->next;
                          waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
                          //
              //            if (nb_swf < 2)
                          if (true)
                          {
                              if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                                  rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                              }
                               waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff888; // [1000 1000 1000]
                              nb_swf = nb_swf + 1;
                          }
                          else
                          {
                               reset_wfp_burst_enable();
                               nb_swf = 0;
                          }
                      }
                      break;
                      //******
                      // BURST
                      case(LFR_MODE_BURST):
                      if ( (waveform_picker_regs->status & 0x04) == 0x04 ){ // [0100] check the f2 full bit
                          // (1) change the receiving buffer for the waveform picker
                          ring_node_to_send_cwf_f2 = current_ring_node_f2;
                          current_ring_node_f2 = current_ring_node_f2->next;
                          waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
                          // (2) send an event for the waveforms transmission
                          if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                              rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                          }
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                      }
                      break;
                      //*****
                      // SBM1
                      case(LFR_MODE_SBM1):
                      if ( (waveform_picker_regs->status & 0x02) == 0x02 ) { // [0010] check the f1 full bit
                          // (0) launch snapshot extraction if needed
                          if (extractSWF == true)
                          {
                              ring_node_to_send_swf_f1 = current_ring_node_f1;
                              // extract the snapshot
                              status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM1 );
                              extractSWF = false;
                              swf_f1_ready = true;
                          }
                          // (1) change the receiving buffer for the waveform picker
                          ring_node_to_send_cwf_f1 = current_ring_node_f1;
                          current_ring_node_f1 = current_ring_node_f1->next;
                          waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address;
                          // (2) send an event for the the CWF1 task for transmission
                          status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bits = 0
                          if (swf_f0_ready == true)
                          {
                              extractSWF = true;
                              swf_f0_ready = false;
                          }
                          if ((swf_f1_ready == true) && (swf_f2_ready == true))
                          {
                              status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 );
                              swf_f1_ready = false;
                              swf_f2_ready = false;
                          }
                      }
                      if ( (waveform_picker_regs->status & 0x01) == 0x01 ) { // [0001] check the f0 full bit
                          swf_f0_ready = true;
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffeee; // [1111 1110 1110 1110] f0 bits = 0
                      }
                      if ( (waveform_picker_regs->status & 0x04) == 0x04 ) { // [0100] check the f2 full bit
                          swf_f2_ready = true;
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
                      }
                      break;
                      //*****
                      // SBM2
                      case(LFR_MODE_SBM2):
                      if ( (waveform_picker_regs->status & 0x04) == 0x04 ){ // [0100] check the f2 full bit
                          // (0) launch snapshot extraction if needed
                          if (extractSWF == true)
                          {
                              ring_node_to_send_swf_f2 = current_ring_node_f2;
                              // extract the snapshot
                              status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM2 );
                              // send the snapshot when build, SWBD priority < WFRM priority
                              status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 );
                              extractSWF = false;
                          }
                          // (1) change the receiving buffer for the waveform picker
                          ring_node_to_send_cwf_f2 = current_ring_node_f2;
                          current_ring_node_f2 = current_ring_node_f2->next;
                          waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
                          // (2) send an event for the waveforms transmission
                          status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                          // (3) check whether swf_fo and swf_f& are ready or not
                          if (swf_f0_ready && swf_f1_ready)
                          {
                              extractSWF = true;
                              swf_f0_ready = false;
                              swf_f1_ready = false;
                          }
                      }
                      if ( (waveform_picker_regs->status & 0x01) == 0x01 ) { // [0001] check the f0 full bit
                          swf_f0_ready = true;
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffeee; // [1111 1110 1110 1110] f0 bits = 0
                      }
                      if ( (waveform_picker_regs->status & 0x02) == 0x02 ) { // [0010] check the f1 full bit
                          swf_f1_ready = true;
                          waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1, f0 bits = 0
                      }
                      break;
                      //********
                      // DEFAULT
                      default:
                      break;
                  }
              }
              //************
              // RTEMS TASKS
              rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
              {
                  /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The following data packets are sent by this task:
                   * - TM_LFR_SCIENCE_NORMAL_SWF_F0
                   * - TM_LFR_SCIENCE_NORMAL_SWF_F1
                   * - TM_LFR_SCIENCE_NORMAL_SWF_F2
                   *
                   */
                  rtems_event_set event_out;
                  rtems_id queue_id;
                  rtems_status_code status;
                  init_header_snapshot_wf_table( SID_NORM_SWF_F0, headerSWF_F0 );
                  init_header_snapshot_wf_table( SID_NORM_SWF_F1, headerSWF_F1 );
                  init_header_snapshot_wf_table( SID_NORM_SWF_F2, headerSWF_F2 );
                  init_waveforms();
                  status =  get_message_queue_id_send( &queue_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in WFRM *** ERR get_message_queue_id_send %d\n", status)
                  }
                  BOOT_PRINTF("in WFRM ***\n")
                  while(1){
                      // wait for an RTEMS_EVENT
                      rtems_event_receive(RTEMS_EVENT_MODE_NORMAL | RTEMS_EVENT_MODE_SBM1
                                          | RTEMS_EVENT_MODE_SBM2 | RTEMS_EVENT_MODE_SBM2_WFRM,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                      if (event_out == RTEMS_EVENT_MODE_NORMAL)
                      {
                          DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_NORMAL\n")
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f0->buffer_address, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f1->buffer_address, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f2->buffer_address, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                      }
                      if (event_out == RTEMS_EVENT_MODE_SBM1)
                      {
                          DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM1\n")
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f0->buffer_address, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                          send_waveform_SWF((volatile int*) wf_snap_extracted                       , SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f2->buffer_address, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                      }
                      if (event_out == RTEMS_EVENT_MODE_SBM2)
                      {
                          DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM2\n")
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f0->buffer_address, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                          send_waveform_SWF((volatile int*) ring_node_to_send_swf_f1->buffer_address, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                          send_waveform_SWF((volatile int*) wf_snap_extracted                       , SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                      }
                  }
              }
              rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
              {
                  /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The following data packet is sent by this task:
                   * - TM_LFR_SCIENCE_NORMAL_CWF_F3
                   *
                   */
                  rtems_event_set event_out;
                  rtems_id queue_id;
                  rtems_status_code status;
                  init_header_continuous_wf_table( SID_NORM_CWF_LONG_F3, headerCWF_F3 );
                  init_header_continuous_cwf3_light_table( headerCWF_F3_light );
                  status =  get_message_queue_id_send( &queue_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in CWF3 *** ERR get_message_queue_id_send %d\n", status)
                  }
                  BOOT_PRINTF("in CWF3 ***\n")
                  while(1){
                      // wait for an RTEMS_EVENT
                      rtems_event_receive( RTEMS_EVENT_0,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                      if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                      {
                          PRINTF("send CWF_LONG_F3\n")
                      }
                      else
                      {
                          PRINTF("send CWF_F3 (light)\n")
                      }
                      if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3_a) {
                          if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                          {
                              send_waveform_CWF( wf_cont_f3_b, SID_NORM_CWF_LONG_F3, headerCWF_F3, queue_id );
                          }
                          else
                          {
                              send_waveform_CWF3_light( wf_cont_f3_b, headerCWF_F3_light, queue_id );
                          }
                      }
                      else
                      {
                          if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                          {
                              send_waveform_CWF( wf_cont_f3_a, SID_NORM_CWF_LONG_F3, headerCWF_F3, queue_id );
                          }
                          else
                          {
                              send_waveform_CWF3_light( wf_cont_f3_a, headerCWF_F3_light, queue_id );
                          }
                      }
                  }
              }
              rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
              {
                  /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The following data packet is sent by this function:
                   * - TM_LFR_SCIENCE_BURST_CWF_F2
                   * - TM_LFR_SCIENCE_SBM2_CWF_F2
                   *
                   */
                  rtems_event_set event_out;
                  rtems_id queue_id;
                  rtems_status_code status;
                  init_header_continuous_wf_table( SID_BURST_CWF_F2, headerCWF_F2_BURST );
                  init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                  status =  get_message_queue_id_send( &queue_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in CWF2 *** ERR get_message_queue_id_send %d\n", status)
                  }
                  BOOT_PRINTF("in CWF2 ***\n")
                  while(1){
                      // wait for an RTEMS_EVENT
                      rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                      if (event_out == RTEMS_EVENT_MODE_BURST)
                      {
                          send_waveform_CWF( (volatile int *) ring_node_to_send_cwf_f2->buffer_address, SID_BURST_CWF_F2, headerCWF_F2_BURST, queue_id );
                      }
                      if (event_out == RTEMS_EVENT_MODE_SBM2)
                      {
                          send_waveform_CWF( (volatile int *) ring_node_to_send_cwf_f2->buffer_address, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                      }
                  }
              }
              rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
              {
                  /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   * The following data packet is sent by this function:
                   * - TM_LFR_SCIENCE_SBM1_CWF_F1
                   *
                   */
                  rtems_event_set event_out;
                  rtems_id queue_id;
                  rtems_status_code status;
                  init_header_continuous_wf_table( SID_SBM1_CWF_F1, headerCWF_F1 );
                  status =  get_message_queue_id_send( &queue_id );
                  if (status != RTEMS_SUCCESSFUL)
                  {
                      PRINTF1("in CWF1 *** ERR get_message_queue_id_send %d\n", status)
                  }
                  BOOT_PRINTF("in CWF1 ***\n")
                  while(1){
                      // wait for an RTEMS_EVENT
                      rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                      send_waveform_CWF( (volatile int*) ring_node_to_send_cwf_f1->buffer_address, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                  }
              }
              rtems_task swbd_task(rtems_task_argument argument)
              {
                  /** This RTEMS task is dedicated to the building of snapshots from different continuous waveforms buffers.
                   *
                   * @param unused is the starting argument of the RTEMS task
                   *
                   */
                  rtems_event_set event_out;
                  BOOT_PRINTF("in SWBD ***\n")
                  while(1){
                      // wait for an RTEMS_EVENT
                      rtems_event_receive( RTEMS_EVENT_MODE_SBM1 | RTEMS_EVENT_MODE_SBM2,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                      if (event_out == RTEMS_EVENT_MODE_SBM1)
                      {
                          build_snapshot_from_ring( ring_node_to_send_swf_f1, 1 );
                      }
                      else if (event_out == RTEMS_EVENT_MODE_SBM2)
                      {
                          build_snapshot_from_ring( ring_node_to_send_swf_f2, 2 );
                      }
                      else
                      {
                          PRINTF1("in SWBD *** unexpected rtems event received %x\n", (int) event_out)
                      }
                  }
              }
              //******************
              // 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;
                  }
              }
              void init_waveform_rings( void )
              {
                  unsigned char i;
                  // F0 RING
                  waveform_ring_f0[0].next            = (ring_node*) &waveform_ring_f0[1];
                  waveform_ring_f0[0].previous        = (ring_node*) &waveform_ring_f0[NB_RING_NODES_F0-1];
                  waveform_ring_f0[0].buffer_address  = (int) &wf_snap_f0[0][0];
                  waveform_ring_f0[NB_RING_NODES_F0-1].next           = (ring_node*) &waveform_ring_f0[0];
                  waveform_ring_f0[NB_RING_NODES_F0-1].previous       = (ring_node*) &waveform_ring_f0[NB_RING_NODES_F0-2];
                  waveform_ring_f0[NB_RING_NODES_F0-1].buffer_address = (int) &wf_snap_f0[NB_RING_NODES_F0-1][0];
                  for(i=1; i<NB_RING_NODES_F0-1; i++)
                  {
                      waveform_ring_f0[i].next            = (ring_node*) &waveform_ring_f0[i+1];
                      waveform_ring_f0[i].previous        = (ring_node*) &waveform_ring_f0[i-1];
                      waveform_ring_f0[i].buffer_address  = (int) &wf_snap_f0[i][0];
                  }
                  // F1 RING
                  waveform_ring_f1[0].next            = (ring_node*) &waveform_ring_f1[1];
                  waveform_ring_f1[0].previous        = (ring_node*) &waveform_ring_f1[NB_RING_NODES_F1-1];
                  waveform_ring_f1[0].buffer_address  = (int) &wf_snap_f1[0][0];
                  waveform_ring_f1[NB_RING_NODES_F1-1].next           = (ring_node*) &waveform_ring_f1[0];
                  waveform_ring_f1[NB_RING_NODES_F1-1].previous       = (ring_node*) &waveform_ring_f1[NB_RING_NODES_F1-2];
                  waveform_ring_f1[NB_RING_NODES_F1-1].buffer_address = (int) &wf_snap_f1[NB_RING_NODES_F1-1][0];
                  for(i=1; i<NB_RING_NODES_F1-1; i++)
                  {
                      waveform_ring_f1[i].next            = (ring_node*) &waveform_ring_f1[i+1];
                      waveform_ring_f1[i].previous        = (ring_node*) &waveform_ring_f1[i-1];
                      waveform_ring_f1[i].buffer_address  = (int) &wf_snap_f1[i][0];
                  }
                  // F2 RING
                  waveform_ring_f2[0].next            = (ring_node*) &waveform_ring_f2[1];
                  waveform_ring_f2[0].previous        = (ring_node*) &waveform_ring_f2[NB_RING_NODES_F2-1];
                  waveform_ring_f2[0].buffer_address  = (int) &wf_snap_f2[0][0];
                  waveform_ring_f2[NB_RING_NODES_F2-1].next           = (ring_node*) &waveform_ring_f2[0];
                  waveform_ring_f2[NB_RING_NODES_F2-1].previous       = (ring_node*) &waveform_ring_f2[NB_RING_NODES_F2-2];
                  waveform_ring_f2[NB_RING_NODES_F2-1].buffer_address = (int) &wf_snap_f2[NB_RING_NODES_F2-1][0];
                  for(i=1; i<NB_RING_NODES_F2-1; i++)
                  {
                      waveform_ring_f2[i].next            = (ring_node*) &waveform_ring_f2[i+1];
                      waveform_ring_f2[i].previous        = (ring_node*) &waveform_ring_f2[i-1];
                      waveform_ring_f2[i].buffer_address  = (int) &wf_snap_f2[i][0];
                  }
                  DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                  DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                  DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
              }
              void reset_current_ring_nodes( void )
              {
                  current_ring_node_f0        = waveform_ring_f0;
                  ring_node_to_send_swf_f0    = waveform_ring_f0;
                  current_ring_node_f1        = waveform_ring_f1;
                  ring_node_to_send_cwf_f1    = waveform_ring_f1;
                  ring_node_to_send_swf_f1    = waveform_ring_f1;
                  current_ring_node_f2        = waveform_ring_f2;
                  ring_node_to_send_cwf_f2    = waveform_ring_f2;
                  ring_node_to_send_swf_f2    = waveform_ring_f2;
              }
              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);
                      headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                      if (i == 6)
                      {
                          headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8);
                          headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224     );
                          headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_224 >> 8);
                          headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_224     );
                      }
                      else
                      {
                          headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8);
                          headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304     );
                          headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_304 >> 8);
                          headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_304     );
                      }
                      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 ].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;
                      headerSWF[ i ].sid = sid;
                      headerSWF[ i ].hkBIA = DEFAULT_HKBIA;
                  }
                  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<NB_PACKETS_PER_GROUP_OF_CWF; 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);
                      }
                      headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                      headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                      headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                      headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
                      headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_CWF     );
                      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;
                      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_cwf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
              {
                  unsigned int i;
                  for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; 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);
                      headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                      headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
                      headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
                      headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
                      headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
                      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;
              }
              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;
                  unsigned int coarseTime;
                  unsigned int fineTime;
                  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;
                  coarseTime = waveform[0];
                  fineTime   = waveform[1];
                  for (i=0; i<7; i++) // send waveform
                  {
                      spw_ioctl_send_SWF.data = (char*) &waveform[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) + TIME_OFFSET];
                      spw_ioctl_send_SWF.hdr = (char*) &headerSWF[ i ];
                      // BUILD THE DATA
                      if (i==6) {
                          spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
                      }
                      else {
                          spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
                      }
                      // SET PACKET SEQUENCE COUNTER
                      increment_seq_counter_source_id( headerSWF[ i ].packetSequenceControl, sid );
                      // SET PACKET TIME
                      compute_acquisition_time( coarseTime, fineTime, sid, i, headerSWF[ i ].acquisitionTime );
                      //
                      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;
                  unsigned int coarseTime;
                  unsigned int fineTime;
                  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;
                  coarseTime = waveform[0];
                  fineTime   = waveform[1];
                  for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
                  {
                      spw_ioctl_send_CWF.data = (char*) &waveform[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) + TIME_OFFSET];
                      spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                      // BUILD THE DATA
                      spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
                      // SET PACKET SEQUENCE COUNTER
                      increment_seq_counter_source_id( headerCWF[ i ].packetSequenceControl, sid );
                      // SET PACKET TIME
                      compute_acquisition_time( coarseTime, fineTime, sid, i, headerCWF[ i ].acquisitionTime);
                      //
                      headerCWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                      headerCWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                      headerCWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                      headerCWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                      headerCWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                      headerCWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
                      // SEND PACKET
                      if (sid == SID_NORM_CWF_LONG_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;
                  unsigned int coarseTime;
                  unsigned int fineTime;
                  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< NB_SAMPLES_PER_SNAPSHOT; i++)
                  {
                      sample = (char*) &waveform[ (i * NB_WORDS_SWF_BLK) + TIME_OFFSET ];
                      wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     + TIME_OFFSET_IN_BYTES ] = sample[ 0 ];
                      wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 + TIME_OFFSET_IN_BYTES ] = sample[ 1 ];
                      wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 + TIME_OFFSET_IN_BYTES ] = sample[ 2 ];
                      wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 + TIME_OFFSET_IN_BYTES ] = sample[ 3 ];
                      wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 + TIME_OFFSET_IN_BYTES ] = sample[ 4 ];
                      wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 + TIME_OFFSET_IN_BYTES ] = sample[ 5 ];
                  }
                  coarseTime = waveform[0];
                  fineTime   = waveform[1];
                  //*********************
                  // SEND CWF3_light DATA
                  for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
                  {
                      spw_ioctl_send_CWF.data = (char*) &wf_cont_f3_light[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) + TIME_OFFSET_IN_BYTES];
                      spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                      // BUILD THE DATA
                      spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
                      // SET PACKET SEQUENCE COUNTER
                      increment_seq_counter_source_id( headerCWF[ i ].packetSequenceControl, SID_NORM_CWF_F3 );
                      // SET PACKET TIME
                      compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, headerCWF[ i ].acquisitionTime );
                      //
                      headerCWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                      headerCWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                      headerCWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                      headerCWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                      headerCWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                      headerCWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
                      // 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;
              }
              void compute_acquisition_time( unsigned int coarseTime, unsigned int fineTime,
                                             unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char * acquisitionTime )
              {
                  unsigned long long int acquisitionTimeAsLong;
                  unsigned char localAcquisitionTime[6];
                  double deltaT;
                  deltaT = 0.;
                  localAcquisitionTime[0] = (unsigned char) ( coarseTime >>  8 );
                  localAcquisitionTime[1] = (unsigned char) ( coarseTime       );
                  localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 24 );
                  localAcquisitionTime[3] = (unsigned char) ( coarseTime >> 16 );
                  localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 24 );
                  localAcquisitionTime[5] = (unsigned char) ( fineTime   >> 16 );
                  acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                          + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                          + ( localAcquisitionTime[2] << 24 )
                          + ( localAcquisitionTime[3] << 16 )
                          + ( localAcquisitionTime[4] << 8  )
                          + ( localAcquisitionTime[5]       );
                  switch( sid )
                  {
                  case SID_NORM_SWF_F0:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                      break;
                  case SID_NORM_SWF_F1:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                      break;
                  case SID_NORM_SWF_F2:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                      break;
                  case SID_SBM1_CWF_F1:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                      break;
                  case SID_SBM2_CWF_F2:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                      break;
                  case SID_BURST_CWF_F2:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                      break;
                  case SID_NORM_CWF_F3:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                      break;
                  case SID_NORM_CWF_LONG_F3:
                      deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                      break;
                  default:
                      PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d", sid)
                      deltaT = 0.;
                      break;
                  }
                  acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                  //
                  acquisitionTime[0] = (unsigned char) (acquisitionTimeAsLong >> 40);
                  acquisitionTime[1] = (unsigned char) (acquisitionTimeAsLong >> 32);
                  acquisitionTime[2] = (unsigned char) (acquisitionTimeAsLong >> 24);
                  acquisitionTime[3] = (unsigned char) (acquisitionTimeAsLong >> 16);
                  acquisitionTime[4] = (unsigned char) (acquisitionTimeAsLong >> 8 );
                  acquisitionTime[5] = (unsigned char) (acquisitionTimeAsLong      );
              }
              void build_snapshot_from_ring( ring_node *ring_node_to_send, unsigned char frequencyChannel )
              {
                  unsigned int i;
                  unsigned long long int centerTime_asLong;
                  unsigned long long int acquisitionTimeF0_asLong;
                  unsigned long long int acquisitionTime_asLong;
                  unsigned long long int bufferAcquisitionTime_asLong;
                  unsigned char *ptr1;
                  unsigned char *ptr2;
                  unsigned char nb_ring_nodes;
                  unsigned long long int frequency_asLong;
                  unsigned long long int nbTicksPerSample_asLong;
                  unsigned long long int nbSamplesPart1_asLong;
                  unsigned long long int sampleOffset_asLong;
                  unsigned int deltaT_F0;
                  unsigned int deltaT_F1;
                  unsigned long long int deltaT_F2;
                  deltaT_F0 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                  deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                  deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                  sampleOffset_asLong = 0x00;
                  // get the f0 acquisition time
                  build_acquisition_time( &acquisitionTimeF0_asLong, current_ring_node_f0 );
-                 PRINTF1("acquisitionTimeF0_asLong %llx \n", acquisitionTimeF0_asLong)
                  // compute the central reference time
                  centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
-                 PRINTF1("centerTime_asLong %llx \n", centerTime_asLong)
                  // compute the acquisition time of the current snapshot
                  switch(frequencyChannel)
                  {
                  case 1: // 1 is for F1 = 4096 Hz
                      acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                      nb_ring_nodes = NB_RING_NODES_F1;
                      frequency_asLong = 4096;
                      nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                      break;
                  case 2: // 2 is for F2 = 256 Hz
                      acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                      nb_ring_nodes = NB_RING_NODES_F2;
                      frequency_asLong = 256;
                      nbTicksPerSample_asLong = 256;  // 65536 / 256;
                      break;
                  default:
                      acquisitionTime_asLong = centerTime_asLong;
                      frequency_asLong = 256;
                      nbTicksPerSample_asLong = 256;
                      break;
                  }
-                 PRINTF1("acquisitionTime_asLong %llx\n", acquisitionTime_asLong)
                  //****************************************************************************
                  // 1) search the ring_node with the acquisition time <= acquisitionTime_asLong
                  for (i=0; i<nb_ring_nodes; i++)
                  {
                      PRINTF1("%d ... ", i)
                      build_acquisition_time( &bufferAcquisitionTime_asLong, ring_node_to_send );
                      if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                      {
                          PRINTF1("buffer found with acquisition time = %llx\n", bufferAcquisitionTime_asLong)
                          break;
                      }
                      ring_node_to_send = ring_node_to_send->previous;
                  }
                  //*************************************************
                  // (2) once the buffer is found, build the snapshot
                  // compute the number of samples to take in the current buffer
                  sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> 16;
                  nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
-                 PRINTF2("sampleOffset_asLong = %lld, nbSamplesPart1 = %lld\n", sampleOffset_asLong, nbSamplesPart1_asLong)
                  // compute the final acquisition time
                  acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                          sampleOffset_asLong * nbTicksPerSample_asLong;
-                 PRINTF1("FINAL acquisitionTime_asLong %llx\n\n", acquisitionTime_asLong)
                  // copy the acquisition time at the beginning of the extrated snapshot
                  ptr1 = (unsigned char*) &acquisitionTime_asLong;
                  ptr2 = (unsigned char*) wf_snap_extracted;
                  ptr2[0] = ptr1[ 2 + 2 ];
                  ptr2[1] = ptr1[ 3 + 2 ];
                  ptr2[2] = ptr1[ 0 + 2 ];
                  ptr2[3] = ptr1[ 1 + 2 ];
                  ptr2[4] = ptr1[ 4 + 2 ];
                  ptr2[5] = ptr1[ 5 + 2 ];
                  // re set the synchronization bit
                  // copy the part 1 of the snapshot in the extracted buffer
                  for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                  {
                      wf_snap_extracted[i + TIME_OFFSET] =
                              ((int*) ring_node_to_send->buffer_address)[i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) + TIME_OFFSET];
                  }
                  // copy the part 2 of the snapshot in the extracted buffer
                  ring_node_to_send = ring_node_to_send->next;
                  for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                  {
                      wf_snap_extracted[i + TIME_OFFSET] =
                              ((int*) ring_node_to_send->buffer_address)[(i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) + TIME_OFFSET];
                  }
              }
              void build_acquisition_time( unsigned long long int *acquisitionTimeAslong, ring_node *current_ring_node )
              {
                  unsigned char *acquisitionTimeCharPtr;
                  acquisitionTimeCharPtr = (unsigned char*) current_ring_node->buffer_address;
                  *acquisitionTimeAslong = 0x00;
                  *acquisitionTimeAslong = ( acquisitionTimeCharPtr[0] << 24 )
                          + ( acquisitionTimeCharPtr[1] << 16 )
                          + ( (unsigned long long int) (acquisitionTimeCharPtr[2] & 0x7f) << 40 ) // [0111 1111] mask the synchronization bit
                          + ( (unsigned long long int) acquisitionTimeCharPtr[3] << 32 )
                          + ( acquisitionTimeCharPtr[4] << 8  )
                          + ( acquisitionTimeCharPtr[5]       );
              }
              //**************
              // wfp registers
              void reset_wfp_burst_enable(void)
              {
                  /** This function resets the waveform picker burst_enable register.
                   *
                   * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                   *
                   */
                  waveform_picker_regs->run_burst_enable = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
              }
              void reset_wfp_status( void )
              {
                  /** This function resets the waveform picker status register.
                   *
                   * All status bits are set to 0 [new_err full_err full].
                   *
                   */
                  waveform_picker_regs->status = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
              }
              void reset_waveform_picker_regs(void)
              {
                  /** This function resets the waveform picker module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  * - 0x00 data_shaping
                  * - 0x04 run_burst_enable
                  * - 0x08 addr_data_f0
                  * - 0x0C addr_data_f1
                  * - 0x10 addr_data_f2
                  * - 0x14 addr_data_f3
                  * - 0x18 status
                  * - 0x1C delta_snapshot
                  * - 0x20 delta_f0
                  * - 0x24 delta_f0_2
                  * - 0x28 delta_f1
                  * - 0x2c delta_f2
                  * - 0x30 nb_data_by_buffer
                  * - 0x34 nb_snapshot_param
                  * - 0x38 start_date
                  * - 0x3c nb_word_in_buffer
                  *
                  */
-                 waveform_picker_regs->data_shaping = 0x01; // 0x00 *** R1 R0 SP1 SP0 BW
+             //    waveform_picker_regs->data_shaping = 0x01; // 0x00 *** R1 R0 SP1 SP0 BW
                  waveform_picker_regs->run_burst_enable = 0x00; // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                  waveform_picker_regs->addr_data_f0 = current_ring_node_f0->buffer_address; // 0x08
                  waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address; // 0x0c
                  waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address; // 0x10
                  waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_a); // 0x14
                  waveform_picker_regs->status = 0x00; // 0x18
                  //
                  set_wfp_delta_snapshot();   // 0x1c
                  set_wfp_delta_f0_f0_2();    // 0x20, 0x24
                  set_wfp_delta_f1();         // 0x28
                  set_wfp_delta_f2();         // 0x2c
                  DEBUG_PRINTF1("delta_snapshot %x\n", waveform_picker_regs->delta_snapshot)
                  DEBUG_PRINTF1("delta_f0 %x\n", waveform_picker_regs->delta_f0)
                  DEBUG_PRINTF1("delta_f0_2 %x\n", waveform_picker_regs->delta_f0_2)
                  DEBUG_PRINTF1("delta_f1 %x\n", waveform_picker_regs->delta_f1)
                  DEBUG_PRINTF1("delta_f2 %x\n", waveform_picker_regs->delta_f2)
                  // 2688 = 8 * 336
                  waveform_picker_regs->nb_data_by_buffer = 0xa7f;    // 0x30 *** 2688 - 1 => nb samples -1
                  waveform_picker_regs->snapshot_param = 0xa80;       // 0x34 *** 2688 => nb samples
                  waveform_picker_regs->start_date = 0x00;            // 0x38
                  waveform_picker_regs->nb_word_in_buffer = 0x1f82;   // 0x3c *** 2688 * 3 + 2 = 8066
              }
              void set_wfp_data_shaping( void )
              {
                  /** This function sets the data_shaping register of the waveform picker module.
                   *
                   * The value is read from one field of the parameter_dump_packet structure:\n
                   * bw_sp0_sp1_r0_r1
                   *
                   */
                  unsigned char data_shaping;
                  // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                  // waveform picker : [R1 R0 SP1 SP0 BW]
                  data_shaping = parameter_dump_packet.bw_sp0_sp1_r0_r1;
                  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
              }
              void set_wfp_burst_enable_register( unsigned char mode )
              {
                  /** This function sets the waveform picker burst_enable register depending on the mode.
                   *
                   * @param mode is the LFR mode to launch.
                   *
                   * The burst bits shall be before the enable bits.
                   *
                   */
                  // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                  // the burst bits shall be set first, before the enable bits
                  switch(mode) {
                  case(LFR_MODE_NORMAL):
                      waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enable
                      waveform_picker_regs->run_burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                      break;
                  case(LFR_MODE_BURST):
                      waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                      waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x04; // [0100] enable f2
                      break;
                  case(LFR_MODE_SBM1):
                      waveform_picker_regs->run_burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                      waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                      break;
                  case(LFR_MODE_SBM2):
                      waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                      waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                      break;
                  default:
                      waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                      break;
                  }
              }
              void set_wfp_delta_snapshot( void )
              {
                  /** This function sets the delta_snapshot register of the waveform picker module.
                   *
                   * The value is read from two (unsigned char) of the parameter_dump_packet structure:
                   * - sy_lfr_n_swf_p[0]
                   * - sy_lfr_n_swf_p[1]
                   *
                   */
                  unsigned int delta_snapshot;
                  unsigned int delta_snapshot_in_T2;
                  delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                          + parameter_dump_packet.sy_lfr_n_swf_p[1];
                  delta_snapshot_in_T2 = delta_snapshot * 256;
                  waveform_picker_regs->delta_snapshot = delta_snapshot_in_T2;    // max 4 bytes
              }
              void set_wfp_delta_f0_f0_2( void )
              {
                  unsigned int delta_snapshot;
                  unsigned int nb_samples_per_snapshot;
                  float delta_f0_in_float;
                  delta_snapshot = waveform_picker_regs->delta_snapshot;
                  nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                  delta_f0_in_float =nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 24576.) * 256.;
                  waveform_picker_regs->delta_f0      =  delta_snapshot - floor( delta_f0_in_float );
                  waveform_picker_regs->delta_f0_2    = 0x7;         // max 7 bits
              }
              void set_wfp_delta_f1( void )
              {
                  unsigned int delta_snapshot;
                  unsigned int nb_samples_per_snapshot;
                  float delta_f1_in_float;
                  delta_snapshot = waveform_picker_regs->delta_snapshot;
                  nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                  delta_f1_in_float = nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 4096.) * 256.;
                  waveform_picker_regs->delta_f1 = delta_snapshot - floor( delta_f1_in_float );
              }
              void set_wfp_delta_f2()
              {
                  unsigned int delta_snapshot;
                  unsigned int nb_samples_per_snapshot;
                  delta_snapshot = waveform_picker_regs->delta_snapshot;
                  nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                  waveform_picker_regs->delta_f2 = delta_snapshot - nb_samples_per_snapshot / 2;
              }
              //*****************
              // local parameters
              void set_local_nb_interrupt_f0_MAX( void )
              {
                  /** 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 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_NORM_CWF_LONG_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 = NULL;
                      PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
                  }
                  if (sequence_cnt != NULL)
                  {
                      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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