HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r34:c3c11207c46d

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FSW-qt/Makefile +2 -2

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.5) on: Mon Sep 30 15:28:56 2013
+            # Generated by qmake (2.01a) (Qt 4.8.5) on: Fri Oct 4 15:16:59 2013
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
-            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=13 -DPRINT_MESSAGES_ON_CONSOLE
+            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=13 -DPRINT_MESSAGES_ON_CONSOLE -DPRINT_TASK_STATISTICS -DPRINT_STACK_REPORT
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_processing.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c
             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
             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
             	$(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
             	$(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
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/fsw binary modified 0 0

NO CONTENT: modified file, binary diff hidden

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

             TEMPLATE = app
             # CONFIG += console v8 sim
-            # CONFIG options = verbose *** cpu_usage_report *** gsa
+            # CONFIG options = verbose *** cpu_usage_report *** gsa *** stack_report
-            CONFIG += console verbose
+            CONFIG += console verbose stack_report cpu_usage_report
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-0-13
             DEFINES += SW_VERSION_N1=0
             DEFINES += SW_VERSION_N2=0
             DEFINES += SW_VERSION_N3=0
             DEFINES += SW_VERSION_N4=13
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
+            contains( CONFIG, stack_report ) {
+                DEFINES += PRINT_STACK_REPORT
+            }
             TARGET = fsw
             contains( CONFIG, gsa ) {
                 DEFINES += GSA
                 TARGET = fsw-gsa
             }
             INCLUDEPATH += \
                 ../src \
                 ../header
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_processing.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c
             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

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

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by QtCreator 2.8.0, 2013-10-01T07:01:25. -->
+            <!-- Written by QtCreator 2.8.0, 2013-10-04T15:45:21. -->
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header/ccsds_types.h +3 -3

             #ifndef CCSDS_H_INCLUDED
             #define CCSDS_H_INCLUDED
             #define CCSDS_PROTOCOLE_EXTRA_BYTES 4
             #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
             #define CCSDS_TM_PKT_MAX_SIZE 4412
             #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
             #define CCSDS_TC_PKT_MAX_SIZE 256
             #define CCSDS_TC_PKT_MIN_SIZE 16
             #define CCSDS_TC_TM_PACKET_OFFSET 7
             #define CCSDS_PROCESS_ID 76
             #define CCSDS_PACKET_CATEGORY 12
             #define CCSDS_NODE_ADDRESS 0xfe
             #define CCSDS_USER_APP 0x00
             #define DEFAULT_SPARE1_PUSVERSION_SPARE2 0x10
             #define DEFAULT_RESERVED 0x00
-            #define DEFAULT_HKBIA 0x1f
+            #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             0x0ccc // PID 76 CAT 12
+            #define TM_PACKET_ID_SCIENCE_NORMAL_BURST       0x0ccc // PID 76 CAT 12
-            #define TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2    0x0cfc // PID 79 CAT 12
+            #define TM_PACKET_ID_SCIENCE_SBM1_SBM2          0x0cfc // PID 79 CAT 12
             #define TM_PACKET_PID_DEFAULT                   76
             #define TM_PACKET_PID_BURST_SBM1_SBM2           79
             #define TM_PACKET_CAT_TC_EXE                    1
             #define TM_PACKET_CAT_HK                        4
             #define TM_PACKET_CAT_PARAMETER_DUMP            9
             #define TM_PACKET_CAT_SCIENCE                   12
             // PACKET SEQUENCE CONTROL
             #define TM_PACKET_SEQ_CTRL_CONTINUATION 0x00    // [0000 0000]
             #define TM_PACKET_SEQ_CTRL_FIRST        0x40    // [0100 0000]
             #define TM_PACKET_SEQ_CTRL_LAST         0x80    // [1000 0000]
             #define TM_PACKET_SEQ_CTRL_STANDALONE   0xc0    // [1100 0000]
             #define TM_PACKET_SEQ_CNT_DEFAULT       0x00    // [0000 0000]
             // DESTINATION ID
             #define TM_DESTINATION_ID_GROUND 0
             #define TM_DESTINATION_ID_MISSION_TIMELINE 110
             #define TM_DESTINATION_ID_TC_SEQUENCES 111
             #define TM_DESTINATION_ID_RECOVERY_ACTION_COMMAND 112
             #define TM_DESTINATION_ID_BACKUP_MISSION_TIMELINE 113
             #define TM_DESTINATION_ID_DIRECT_CMD 120
             #define TM_DESTINATION_ID_SPARE_GRD_SRC1 121
             #define TM_DESTINATION_ID_SPARE_GRD_SRC2 122
             #define TM_DESTINATION_ID_OBCP 15
             #define TM_DESTINATION_ID_SYSTEM_CONTROL 14
             #define TM_DESTINATION_ID_AOCS 11
             #define CCSDS_DESTINATION_ID 0x01
             #define CCSDS_PROTOCOLE_ID 0x02
             #define CCSDS_RESERVED 0x00
             #define CCSDS_USER_APP 0x00
             #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
             #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
             #define SIZE_HK_PARAMETERS 112
             // TC TYPES
             #define TC_TYPE_GEN 181
             #define TC_TYPE_TIME 9
             // TC SUBTYPES
             #define TC_SUBTYPE_RESET 1
             #define TC_SUBTYPE_LOAD_COMM 11
             #define TC_SUBTYPE_LOAD_NORM 13
             #define TC_SUBTYPE_LOAD_BURST 19
             #define TC_SUBTYPE_LOAD_SBM1 25
             #define TC_SUBTYPE_LOAD_SBM2 27
             #define TC_SUBTYPE_DUMP 31
             #define TC_SUBTYPE_ENTER 41
             #define TC_SUBTYPE_UPDT_INFO 51
             #define TC_SUBTYPE_EN_CAL 61
             #define TC_SUBTYPE_DIS_CAL 63
             #define TC_SUBTYPE_UPDT_TIME 129
             // TC LEN
             #define TC_LEN_RESET 12
             #define TC_LEN_LOAD_COMM 14
             #define TC_LEN_LOAD_NORM 20
             #define TC_LEN_LOAD_BURST 14
             #define TC_LEN_LOAD_SBM1 14
             #define TC_LEN_LOAD_SBM2 14
             #define TC_LEN_DUMP 12
             #define TC_LEN_ENTER 20
             #define TC_LEN_UPDT_INFO 48
             #define TC_LEN_EN_CAL 12
             #define TC_LEN_DIS_CAL 12
             #define TC_LEN_UPDT_TIME 18
             // TM TYPES
             #define TM_TYPE_TC_EXE 1
             #define TM_TYPE_HK 3
             #define TM_TYPE_PARAMETER_DUMP 3
             #define TM_TYPE_LFR_SCIENCE 21
             // TM SUBTYPES
             #define TM_SUBTYPE_EXE_OK 7
             #define TM_SUBTYPE_EXE_NOK 8
             #define TM_SUBTYPE_HK 25
             #define TM_SUBTYPE_PARAMETER_DUMP 25
             #define TM_SUBTYPE_SCIENCE 3
             #define TM_SUBTYPE_LFR_SCIENCE 3
             // FAILURE CODES
             #define ILLEGAL_APID       0
             #define WRONG_LEN_PACKET   1
             #define INCOR_CHECKSUM     2
             #define ILL_TYPE           3
             #define ILL_SUBTYPE        4
             #define WRONG_APP_DATA     5
             //
             #define WRONG_CMD_CODE 6
             #define CCSDS_TM_VALID 7
             #define FAILURE_CODE_INCONSISTENT       5       // 0x00 0x05
             #define FAILURE_CODE_NOT_EXECUTABLE     42000   // 0xa4 0x10
             #define FAILURE_CODE_NOT_IMPLEMENTED    42002   // 0xa4 0x12
             #define FAILURE_CODE_ERROR              42003   // 0xa4 0x13
             #define FAILURE_CODE_CORRUPTED          42005   // 0xa4 0x15
             // TM SID
             #define SID_DEFAULT 0
             #define SID_EXE_INC 5
             #define SID_NOT_EXE 42000       // 0xa4 0x10
             #define SID_NOT_IMP 42002       // 0xa4 0x12
             #define SID_EXE_ERR 42003       // 0xa4 0x13
             #define SID_EXE_CORR 42005      // 0xa4 0x15
             #define SID_HK 1
             #define SID_PARAMETER_DUMP 10
             #define SID_NORM_SWF_F0 3
             #define SID_NORM_SWF_F1 4
             #define SID_NORM_SWF_F2 5
             #define SID_NORM_CWF_F3 1
             #define SID_BURST_CWF_F2 2
             #define SID_SBM1_CWF_F1 24
             #define SID_SBM2_CWF_F2 25
             #define SID_NORM_ASM_F0 11
             #define SID_NORM_ASM_F1 12
             #define SID_NORM_ASM_F2 13
             #define SID_NORM_BP1_F0 14
             #define SID_NORM_BP1_F1 15
             #define SID_NORM_BP1_F2 16
             #define SID_NORM_BP2_F0 19
             #define SID_NORM_BP2_F1 20
             #define SID_NORM_BP2_F2 21
             #define SID_BURST_BP1_F0 17
             #define SID_BURST_BP2_F0 22
             #define SID_BURST_BP1_F1 18
             #define SID_BURST_BP2_F1 23
             #define SID_SBM1_BP1_F0 28
             #define SID_SBM1_BP2_F0 31
             #define SID_SBM2_BP1_F0 29
             #define SID_SBM2_BP2_F0 32
             #define SID_SBM2_BP1_F1 30
             #define SID_SBM2_BP2_F1 33
             // LENGTH (BYTES)
             #define LENGTH_TM_LFR_TC_EXE_MAX 32
             #define LENGTH_TM_LFR_HK 126
             // HEADER_LENGTH
             #define TM_HEADER_LEN 16
             #define HEADER_LENGTH_TM_LFR_SCIENCE_ASM 28
             // PACKET_LENGTH
             #define PACKET_LENGTH_TC_EXE_SUCCESS            (20 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_INCONSISTENT       (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED    (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_ERROR              (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_CORRUPTED          (32 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_HK                        (126 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_PARAMETER_DUMP            (34 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM        (TOTAL_SIZE_SM + HEADER_LENGTH_TM_LFR_SCIENCE_ASM - CCSDS_TC_TM_PACKET_OFFSET)
             #define SPARE1_PUSVERSION_SPARE2 0x10
             #define LEN_TM_LFR_HK               126 + 4
             #define LEN_TM_LFR_TC_EXE_NOT_IMP   24 +4
             #define TM_LEN_SCI_SWF_340  (340 * 12 + 10 + 12 - 1)
             #define TM_LEN_SCI_SWF_8      (8 * 12 + 10 + 12 - 1)
             #define TM_LEN_SCI_CWF_340  (340 * 12 + 10 + 10 - 1)
             #define TM_LEN_SCI_CWF_8      (8 * 12 + 10 + 10 - 1)
             #define DEFAULT_PKTCNT  0x07
             #define BLK_NR_340      0x0154
             #define BLK_NR_8        0x0008
             enum TM_TYPE{
                 TM_LFR_TC_EXE_OK,
                 TM_LFR_TC_EXE_ERR,
                 TM_LFR_HK,
                 TM_LFR_SCI,
                 TM_LFR_SCI_SBM,
                 TM_LFR_PAR_DUMP
             };
             struct TMHeader_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
             };
             typedef struct TMHeader_str TMHeader_t;
             struct Packet_TM_LFR_TC_EXE_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char data[LENGTH_TM_LFR_TC_EXE_MAX - 10 + 1];
             };
             typedef struct Packet_TM_LFR_TC_EXE_str Packet_TM_LFR_TC_EXE_t;
             struct Packet_TM_LFR_TC_EXE_CORRUPTED_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 // PACKET HEADER
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 //
                 volatile unsigned char tc_failure_code[2];
                 volatile unsigned char telecommand_pkt_id[2];
                 volatile unsigned char pkt_seq_control[2];
                 volatile unsigned char tc_service;
                 volatile unsigned char tc_subtype;
                 volatile unsigned char pkt_len_rcv_value[2];
                 volatile unsigned char pkt_datafieldsize_cnt[2];
                 volatile unsigned char rcv_crc[2];
                 volatile unsigned char computed_crc[2];
             };
             typedef struct Packet_TM_LFR_TC_EXE_CORRUPTED_str Packet_TM_LFR_TC_EXE_CORRUPTED_t;
             struct Header_TM_LFR_SCIENCE_SWF_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY HEADER
                 volatile unsigned char sid;
                 volatile unsigned char hkBIA;
                 volatile unsigned char pktCnt;
                 volatile unsigned char pktNr;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_SWF_str Header_TM_LFR_SCIENCE_SWF_t;
             struct Header_TM_LFR_SCIENCE_CWF_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY DATA HEADER
                 volatile unsigned char sid;
                 volatile unsigned char hkBIA;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_CWF_str Header_TM_LFR_SCIENCE_CWF_t;
             struct Header_TM_LFR_SCIENCE_ASM_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY HEADER
                 volatile unsigned char sid;
                 volatile unsigned char biaStatusInfo;
                 volatile unsigned char cntASM;
                 volatile unsigned char nrASM;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_ASM_str Header_TM_LFR_SCIENCE_ASM_t;
             struct ccsdsTelecommandPacket_str
             {
                 //unsigned char targetLogicalAddress; // removed by the grspw module
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char headerFlag_pusVersion_Ack;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char sourceID;
                 volatile unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
             };
             typedef struct ccsdsTelecommandPacket_str ccsdsTelecommandPacket_t;
             struct Packet_TM_LFR_HK_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char sid;
                 //**************
                 // HK PARAMETERS
                 unsigned char lfr_status_word[2];
                 unsigned char lfr_sw_version[4];
                 // tc statistics
                 unsigned char hk_lfr_update_info_tc_cnt[2];
                 unsigned char hk_lfr_update_time_tc_cnt[2];
                 unsigned char hk_dpu_exe_tc_lfr_cnt[2];
                 unsigned char hk_dpu_rej_tc_lfr_cnt[2];
                 unsigned char hk_lfr_last_exe_tc_id[2];
                 unsigned char hk_lfr_last_exe_tc_type[2];
                 unsigned char hk_lfr_last_exe_tc_subtype[2];
                 unsigned char hk_lfr_last_exe_tc_time[6];
                 unsigned char hk_lfr_last_rej_tc_id[2];
                 unsigned char hk_lfr_last_rej_tc_type[2];
                 unsigned char hk_lfr_last_rej_tc_subtype[2];
                 unsigned char hk_lfr_last_rej_tc_time[6];
                 // anomaly statistics
                 unsigned char hk_lfr_le_cnt[2];
                 unsigned char hk_lfr_me_cnt[2];
                 unsigned char hk_lfr_he_cnt[2];
                 unsigned char hk_lfr_last_er_rid[2];
                 unsigned char hk_lfr_last_er_code;
                 unsigned char hk_lfr_last_er_time[6];
                 // vhdl_blk_status
                 unsigned char hk_lfr_vhdl_aa_sm;
                 unsigned char hk_lfr_vhdl_fft_sr;
                 unsigned char hk_lfr_vhdl_cic_hk;
                 unsigned char hk_lfr_vhdl_iir_cal;
                 // spacewire_if_statistics
                 unsigned char hk_lfr_dpu_spw_pkt_rcv_cnt[2];
                 unsigned char hk_lfr_dpu_spw_pkt_sent_cnt[2];
                 unsigned char hk_lfr_dpu_spw_tick_out_cnt;
                 unsigned char hk_lfr_dpu_spw_last_timc;
                 // ahb error statistics
                 unsigned int hk_lfr_last_fail_addr;
                 // temperatures
                 unsigned char hk_lfr_temp_scm[2];
                 unsigned char hk_lfr_temp_pcb[2];
                 unsigned char hk_lfr_temp_fpga[2];
                 // error counters
                 unsigned char hk_lfr_dpu_spw_parity;
                 unsigned char hk_lfr_dpu_spw_disconnect;
                 unsigned char hk_lfr_dpu_spw_escape;
                 unsigned char hk_lfr_dpu_spw_credit;
                 unsigned char hk_lfr_dpu_spw_write_sync;
                 unsigned char hk_lfr_dpu_spw_rx_ahb;
                 unsigned char hk_lfr_dpu_spw_tx_ahb;
                 unsigned char hk_lfr_dpu_spw_header_crc;
                 unsigned char hk_lfr_dpu_spw_data_crc;
                 unsigned char hk_lfr_dpu_spw_early_eop;
                 unsigned char hk_lfr_dpu_spw_invalid_addr;
                 unsigned char hk_lfr_dpu_spw_eep;
                 unsigned char hk_lfr_dpu_spw_rx_too_big;
                 // timecode
                 unsigned char hk_lfr_timecode_erroneous;
                 unsigned char hk_lfr_timecode_missing;
                 unsigned char hk_lfr_timecode_invalid;
                 // time
                 unsigned char hk_lfr_time_timecode_it;
                 unsigned char hk_lfr_time_not_synchro;
                 unsigned char hk_lfr_time_timecode_ctr;
                 // hk_lfr_buffer_dpu_
                 unsigned char hk_lfr_buffer_dpu_tc_fifo;
                 unsigned char hk_lfr_buffer_dpu_tm_fifo;
                 // hk_lfr_ahb_
                 unsigned char hk_lfr_ahb_correctable;
                 unsigned char hk_lfr_ahb_uncorrectable;
                 unsigned char hk_lfr_ahb_fails_trans;
                 // hk_lfr_adc_
                 unsigned char hk_lfr_adc_failure;
                 unsigned char hk_lfr_adc_timeout;
                 unsigned char hk_lfr_toomany_err;
                 // hk_lfr_cpu_
                 unsigned char hk_lfr_cpu_write_err;
                 unsigned char hk_lfr_cpu_ins_access_err;
                 unsigned char hk_lfr_cpu_illegal_ins;
                 unsigned char hk_lfr_cpu_privilegied_ins;
                 unsigned char hk_lfr_cpu_register_hw;
                 unsigned char hk_lfr_cpu_not_aligned;
                 unsigned char hk_lfr_cpu_data_exception;
                 unsigned char hk_lfr_cpu_div_exception;
                 unsigned char hk_lfr_cpu_arith_overflow;
             };
             typedef struct Packet_TM_LFR_HK_str Packet_TM_LFR_HK_t;
             struct Packet_TM_LFR_PARAMETER_DUMP_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char sid;
                 //******************
                 // COMMON PARAMETERS
                 volatile unsigned char unused0;
                 volatile unsigned char bw_sp0_sp1_r0_r1;
                 //******************
                 // NORMAL PARAMETERS
                 volatile unsigned char sy_lfr_n_swf_l[2];
                 volatile unsigned char sy_lfr_n_swf_p[2];
                 volatile unsigned char sy_lfr_n_asm_p[2];
                 volatile unsigned char sy_lfr_n_bp_p0;
                 volatile unsigned char sy_lfr_n_bp_p1;
                 //*****************
                 // BURST PARAMETERS
                 volatile unsigned char sy_lfr_b_bp_p0;
                 volatile unsigned char sy_lfr_b_bp_p1;
                 //****************
                 // SBM1 PARAMETERS
                 volatile unsigned char sy_lfr_s1_bp_p0;
                 volatile unsigned char sy_lfr_s1_bp_p1;
                 //****************
                 // SBM2 PARAMETERS
                 volatile unsigned char sy_lfr_s2_bp_p0;
                 volatile unsigned char sy_lfr_s2_bp_p1;
             };
             typedef struct Packet_TM_LFR_PARAMETER_DUMP_str Packet_TM_LFR_PARAMETER_DUMP_t;
             #endif // CCSDS_H_INCLUDED

header/fsw_init.h +8 -4

             #ifndef FSW_RTEMS_H_INCLUDED
             #define FSW_RTEMS_H_INCLUDED
             #include <errno.h>
             #include <fcntl.h>
             #include <stdio.h>
             #include <stdlib.h>
             #include <grspw.h>
             #include <apbuart.h>
             #include "fsw_params.h"
             #include "fsw_misc.h"
             #include "fsw_processing.h"
             #include "tc_handler.h"
             #include "wf_handler.h"
             #include "grlib_regs.h"
             #include "ccsds_types.h"
             #include "fsw_spacewire.h"
             extern int sched_yield( void );
             extern int errno;
             extern rtems_id   Task_id[ ];       /* array of task ids */
             extern rtems_name Task_name[ ];     /* array of task names */
-            extern rtems_name misc_name[ ];    /* arry of miscellaneous names for rtems objects */
+            extern rtems_name misc_id[ ];
+            extern rtems_name misc_name[ ];    /* array of miscellaneous names for rtems objects */
+            extern unsigned int maxCount;
             extern int fdSPW;   // grspw file descriptor
             extern int fdUART;  // uart file descriptor
             extern unsigned char lfrCurrentMode;
             // MODE PARAMETERS
             extern struct param_local_str param_local;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
             // RTEMS TASKS
             rtems_task Init( rtems_task_argument argument);	/* forward declaration needed */
             rtems_task recv_task(rtems_task_argument argument);
             rtems_task stat_task(rtems_task_argument argument);
             rtems_task wfrm_task(rtems_task_argument argument);
+            // OTHER functions
             int create_names( void );
             int create_all_tasks( void );
             int start_all_tasks( void );
-            int create_message_queue( void );
+            //
             int create_message_queues( void );
+            //
-            // OTHER functions
             void init_parameter_dump( void );
             void init_local_mode_parameters( void );
             void init_housekeeping_parameters( void );
             extern int rtems_cpu_usage_report( void );
             extern int rtems_cpu_usage_reset( void );
+            extern void rtems_stack_checker_report_usage( void );
             #endif // FSW_RTEMS_CONFIG_H_INCLUDED

header/fsw_params.h +22 -17

             #ifndef FSW_RTEMS_CONFIG_H_INCLUDED
             #define FSW_RTEMS_CONFIG_H_INCLUDED
             #include <fsw_params_processing.h>
             #define GRSPW_DEVICE_NAME "/dev/grspw0"
             #define UART_DEVICE_NAME "/dev/console"
             //************************
             // flight software version
             // this parameters is handled by the Qt project options
             //**********
             // LFR MODES
             #define LFR_MODE_STANDBY 0
             #define LFR_MODE_NORMAL 1
             #define LFR_MODE_BURST 2
             #define LFR_MODE_SBM1 3
             #define LFR_MODE_SBM2 4
             #define LFR_MODE_NORMAL_CWF_F3 5
             #define RTEMS_EVENT_MODE_STANDBY RTEMS_EVENT_0
             #define RTEMS_EVENT_MODE_NORMAL RTEMS_EVENT_1
             #define RTEMS_EVENT_MODE_BURST RTEMS_EVENT_2
             #define RTEMS_EVENT_MODE_SBM1 RTEMS_EVENT_3
             #define RTEMS_EVENT_MODE_SBM2 RTEMS_EVENT_4
+            #define RTEMS_EVENT_MODE_SBM2_WFRM RTEMS_EVENT_5
             //****************************
             // LFR DEFAULT MODE PARAMETERS
             // COMMON
             #define DEFAULT_SY_LFR_COMMON0 0x00
             #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
             // NORM
             #define DEFAULT_SY_LFR_N_SWF_L 2048 // nb sample
             #define DEFAULT_SY_LFR_N_SWF_P 16   // sec
             #define DEFAULT_SY_LFR_N_ASM_P 16   // sec
             #define DEFAULT_SY_LFR_N_BP_P0 4    // sec
             #define DEFAULT_SY_LFR_N_BP_P1 20   // sec
             #define MIN_DELTA_SNAPSHOT 16       // sec
             // BURST
             #define DEFAULT_SY_LFR_B_BP_P0 1    // sec
             #define DEFAULT_SY_LFR_B_BP_P1 5    // sec
             // SBM1
             #define DEFAULT_SY_LFR_S1_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S1_BP_P1 1   // sec
             // SBM2
             #define DEFAULT_SY_LFR_S2_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S2_BP_P1 5   // sec
             // ADDITIONAL PARAMETERS
             #define TIME_BETWEEN_TWO_SWF_PACKETS 30     // nb x 10 ms => 300 ms
             #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000 // nb x 10 ms => 10 s
             //
             //****************************
             //*****************************
             // APB REGISTERS BASE ADDRESSES
             #define REGS_ADDR_APBUART 0x80000100
             #define REGS_ADDR_GPTIMER 0x80000300
             #define REGS_ADDR_GRSPW 0x80000500
             #define REGS_ADDR_TIME_MANAGEMENT 0x80000600
             #define REGS_ADDR_SPECTRAL_MATRIX 0x80000f00
             #ifdef GSA
             #else
                 #define REGS_ADDR_WAVEFORM_PICKER 0x80000f20
             #endif
             #define APBUART_CTRL_REG_MASK_DB 0xfffff7ff
             #define APBUART_SCALER_RELOAD_VALUE 0x00000050      // 25 MHz => about 38400 (0x50)
             //**********
             // IRQ LINES
             #define IRQ_SM 9
             #define IRQ_SPARC_SM 0x19               // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WF 10
             #define IRQ_SPARC_WF 0x1a               // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_TIME1 12
             #define IRQ_SPARC_TIME1 0x1c            // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_TIME2 13
             #define IRQ_SPARC_TIME2 0x1d            // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WAVEFORM_PICKER 14
             #define IRQ_SPARC_WAVEFORM_PICKER 0x1e  // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_SPECTRAL_MATRIX 6
             #define IRQ_SPARC_SPECTRAL_MATRIX 0x16  // see sparcv8.pdf p.76 for interrupt levels
             //*****
             // TIME
             #define CLKDIV_SM_SIMULATOR (10000 - 1)     // 10 ms
             #define CLKDIV_WF_SIMULATOR (10000000 - 1)  // 10 000 000 * 1 us = 10 s
             #define TIMER_SM_SIMULATOR 1
             #define TIMER_WF_SIMULATOR 2
             #define HK_PERIOD 100 // 100 * 10ms => 1sec
             //**********
             // LPP CODES
             #define LFR_SUCCESSFUL 0
             #define LFR_DEFAULT 1
             //******
             // RTEMS
             #define TASKID_RECV 1
             #define TASKID_ACTN 2
             #define TASKID_SPIQ 3
             #define TASKID_SMIQ 4
             #define TASKID_STAT 5
             #define TASKID_AVF0 6
             #define TASKID_BPF0 7
             #define TASKID_WFRM 8
             #define TASKID_DUMB 9
             #define TASKID_HOUS 10
             #define TASKID_MATR 11
             #define TASKID_CWF3 12
             #define TASKID_CWF2 13
             #define TASKID_CWF1 14
             #define TASKID_SEND 15
-            //*********************************************************************
-            // ALL TASKS THAT USE THE SPACEWIRE DIRVER SHALL HAVE THE SAME PRIORITY
-            // OR CHANGE THE SEMAPHORE CREATION IN THE DRIVER...
             #define TASK_PRIORITY_SPIQ 5
             #define TASK_PRIORITY_SMIQ 10
-            #define TASK_PRIORITY_SEND 11
+            //
-            #define TASK_PRIORITY_RECV 12
+            #define TASK_PRIORITY_SEND 30
-            #define TASK_PRIORITY_ACTN 12
+            //
-            #define TASK_PRIORITY_CWF1 14
+            #define TASK_PRIORITY_RECV 40
-            #define TASK_PRIORITY_HOUS 15
+            #define TASK_PRIORITY_ACTN 40
-            #define TASK_PRIORITY_CWF2 15
+            //
-            #define TASK_PRIORITY_WFRM 15
+            #define TASK_PRIORITY_HOUS 40
-            #define TASK_PRIORITY_CWF3 15
+            #define TASK_PRIORITY_CWF1 40
-            #define TASK_PRIORITY_AVF0 50
+            #define TASK_PRIORITY_CWF2 40
-            #define TASK_PRIORITY_BPF0 50
+            #define TASK_PRIORITY_WFRM 40
-            #define TASK_PRIORITY_MATR 250
+            #define TASK_PRIORITY_CWF3 40
-            #define TASK_PRIORITY_STAT 251
+            //
-            #define TASK_PRIORITY_DUMB 251
+            #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_SIZE
+            #define ACTION_MSG_PKTS_SIZE 24     // hlen *hdr dlen *data sent options
+            #define QUEUE_QUEU 0
+            #define QUEUE_PKTS 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
             #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
             #define NB_SAMPLES_PER_SNAPSHOT 2048
             #define TIME_OFFSET 2
             #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
             #define NB_BYTES_SWF_BLK 2 * 6
             #define NB_WORDS_SWF_BLK 3
             //******************
             // SEQUENCE COUNTERS
             #define SEQ_CNT_NB_PID 2
             #define SEQ_CNT_NB_CAT 4
             #define SEQ_CNT_NB_DEST_ID 11
             // pid
             #define SEQ_CNT_PID_76 0
             #define SEQ_CNT_PID_79 1
             //cat
             #define SEQ_CNT_CAT_1 0
             #define SEQ_CNT_CAT_4 1
             #define SEQ_CNT_CAT_9 2
             #define SEQ_CNT_CAT_12 3
             // destination id
             #define SEQ_CNT_DST_ID_GROUND 0
             #define SEQ_CNT_DST_ID_MISSION_TIMELINE 1
             #define SEQ_CNT_DST_ID_TC_SEQUENCES 2
             #define SEQ_CNT_DST_ID_RECOVERY_ACTION_CMD 3
             #define SEQ_CNT_DST_ID_BACKUP_MISSION_TIMELINE 4
             #define SEQ_CNT_DST_ID_DIRECT_CMD 5
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC1 6
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC2 7
             #define SEQ_CNT_DST_ID_OBCP 8
             #define SEQ_CNT_DST_ID_SYSTEM_CONTROL 9
             #define SEQ_CNT_DST_ID_AOCS 10
             struct param_local_str{
                 unsigned int local_sbm1_nb_cwf_sent;
                 unsigned int local_sbm1_nb_cwf_max;
                 unsigned int local_sbm2_nb_cwf_sent;
                 unsigned int local_sbm2_nb_cwf_max;
                 unsigned int local_nb_interrupt_f0_MAX;
             };
             #endif // FSW_RTEMS_CONFIG_H_INCLUDED

header/fsw_processing.h +3 0

             #ifndef FSW_RTEMS_PROCESSING_H_INCLUDED
             #define FSW_RTEMS_PROCESSING_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <leon.h>
             #include <fsw_init.h>
             #include <fsw_params.h>
             #include <grlib_regs.h>
             #include <ccsds_types.h>
             #include <stdio.h>
             #include <stdlib.h>
             extern volatile int spec_mat_f0_0[ ];
             extern volatile int spec_mat_f0_1[ ];
+            extern volatile int spec_mat_f0_a[ ];
+            extern volatile int spec_mat_f0_b[ ];
             extern volatile int spec_mat_f0_c[ ];
             extern volatile int spec_mat_f0_d[ ];
             extern volatile int spec_mat_f0_e[ ];
             extern volatile int spec_mat_f0_f[ ];
             extern volatile int spec_mat_f0_g[ ];
             extern volatile int spec_mat_f0_h[ ];
             extern volatile int spec_mat_f1[ ];
             extern volatile int spec_mat_f2[ ];
             extern volatile int spec_mat_f1_bis[ ];
             extern volatile int spec_mat_f2_bis[ ];
             extern volatile int spec_mat_f0_0_bis[ ];
             extern volatile int spec_mat_f0_1_bis[ ];
             extern rtems_id Task_id[ ];         /* array of task ids */
             // 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;
             // ISR
             rtems_isr spectral_matrices_isr( rtems_vector_number vector );
+            rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector );
             // RTEMS TASKS
             rtems_task spw_bppr_task(rtems_task_argument argument);
             rtems_task avf0_task(rtems_task_argument argument);
             rtems_task bpf0_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);
             rtems_task spw_bppr_task_rate_monotonic(rtems_task_argument argument);
             void matrix_average(volatile int *spec_mat, volatile float *averaged_spec_mat);
             void matrix_compression(volatile float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat);
             void matrix_reset(volatile float *averaged_spec_mat);
             void BP1_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1);
             void BP2_set(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat);
             //
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header);
             void send_spectral_matrix(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send);
             void convert_averaged_spectral_matrix(volatile float *input_matrix, char *output_matrix);
             void fill_averaged_spectral_matrix();
             void reset_spectral_matrix_regs();
             #endif // FSW_RTEMS_PROCESSING_H_INCLUDED

header/tc_handler.h 0 -6

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <bsp.h>        // for the LEON_Unmask_interrupt function
             #include <stdio.h>
             #include <unistd.h>     // for the read call
             #include <sys/ioctl.h>  // for the ioctl call
             #include <ccsds_types.h>
             #include <grspw.h>
             #include "fsw_init.h"
             #include "fsw_misc.h"
-            extern int fdSPW;
-            extern unsigned char lfrCurrentMode;
-            extern rtems_name misc_name[ ];
-            extern rtems_name misc_id[ ];
-            extern rtems_id Task_id[ ];         // array of task ids
             // MODE PARAMETERS
             extern struct param_sbm1_str param_sbm1;
             extern struct param_sbm2_str param_sbm2;
-            extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern time_management_regs_t *time_management_regs;
             extern waveform_picker_regs_t *waveform_picker_regs;
             extern gptimer_regs_t         *gptimer_regs;
             //****
             // ISR
             rtems_isr commutation_isr1( rtems_vector_number vector );
             rtems_isr commutation_isr2( rtems_vector_number vector );
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk);
             void initLookUpTableForCRC( void );
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
             void updateLFRCurrentMode();
             //*********************
             // ACCEPTANCE FUNCTIONS
             int TC_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV);
             unsigned char TC_parser(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV);
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                           TMHeader_t *TMHeader, unsigned char tc_sid);
             //***********
             // RTEMS TASK
             rtems_task recv_task( rtems_task_argument unused );
             rtems_task actn_task( rtems_task_argument unused );
             rtems_task dumb_task( rtems_task_argument unused );
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC);
             int action_load_common_par(ccsdsTelecommandPacket_t *TC);
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC);
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC);
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC);
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC);
             int action_dump_par(ccsdsTelecommandPacket_t *TC);
             int action_enter_mode(ccsdsTelecommandPacket_t *TC);
             int action_update_info(ccsdsTelecommandPacket_t *TC);
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC);
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC);
             int action_update_time(ccsdsTelecommandPacket_t *TC);
             // mode transition
             int transition_validation(unsigned char requestedMode);
             int stop_current_mode();
             int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC);
             int enter_standby_mode();
             int enter_normal_mode();
             int enter_burst_mode();
             int enter_sbm1_mode();
             int enter_sbm2_mode();
             int restart_science_tasks();
             int suspend_science_tasks();
             // other functions
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC);
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC);
             void close_action(ccsdsTelecommandPacket_t *TC, int result);
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_not_executable(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_not_implemented(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_error(ccsdsTelecommandPacket_t *TC);
             #endif // TC_HANDLER_H_INCLUDED

header/wf_handler.h +2 -3

             #ifndef WF_HANDLER_H_INCLUDED
             #define WF_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <stdio.h>
             #include <math.h>
             #include "fsw_params.h"
             #include "grlib_regs.h"
             #include "ccsds_types.h"
             #include "fsw_init.h"
             #define pi 3.1415
             //#include <sys/ioctl.h>
             extern rtems_id Task_id[];         /* array of task ids */
             extern int fdSPW;
             extern volatile int wf_snap_f0[ ];
             //
             extern volatile int wf_snap_f1[ ];
             extern volatile int wf_snap_f1_bis[ ];
             extern volatile int wf_snap_f1_norm[ ];
             //
             extern volatile int wf_snap_f2[ ];
             extern volatile int wf_snap_f2_bis[ ];
             extern volatile int wf_snap_f2_norm[ ];
             //
             extern volatile int wf_cont_f3[ ];
             extern volatile int wf_cont_f3_bis[ ];
             extern waveform_picker_regs_t *waveform_picker_regs;
-            extern unsigned char lfrCurrentMode;
             rtems_isr waveforms_isr( rtems_vector_number vector );
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector );
             rtems_task wfrm_task(rtems_task_argument argument);
             rtems_task cwf3_task(rtems_task_argument argument);
             rtems_task cwf2_task(rtems_task_argument argument);
             rtems_task cwf1_task(rtems_task_argument argument);
             //******************
             // general functions
             void init_waveforms( void );
             //
-            int init_header_snapshot_wf_table( unsigned int sid );
+            int init_header_snapshot_wf_table(unsigned int sid , Header_TM_LFR_SCIENCE_SWF_t *headerSWF);
             int init_header_continuous_wf_table(unsigned int sid , Header_TM_LFR_SCIENCE_CWF_t *headerCWF);
             //
             void reset_waveforms( void );
-            int send_waveform_SWF(volatile int *waveform, unsigned int sid);
+            int send_waveform_SWF(volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF);
             int send_waveform_CWF(volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF);
             //**************
             // wfp registers
             void set_wfp_data_shaping();
             char set_wfp_delta_snapshot();
             void set_wfp_burst_enable_register( unsigned char mode);
             void reset_wfp_burst_enable();
             void reset_wfp_status();
             void reset_waveform_picker_regs();
             //*****************
             // local parameters
             void set_local_sbm1_nb_cwf_max();
             void set_local_sbm2_nb_cwf_max();
             void set_local_nb_interrupt_f0_MAX();
             void reset_local_sbm1_nb_cwf_sent();
             void reset_local_sbm2_nb_cwf_sent();
             #endif // WF_HANDLER_H_INCLUDED

src/fsw_globals.c +3 0

             //#include <fsw_processing.h>
             #include <rtems.h>
             #include <grspw.h>
             #include <ccsds_types.h>
             #include <grlib_regs.h>
             #include <fsw_params.h>
             // RTEMS GLOBAL VARIABLES
             rtems_name misc_name[5];
             rtems_name misc_id[5];
             rtems_id   Task_id[20];         /* array of task ids */
             rtems_name Task_name[20];       /* array of task names */
+            unsigned int maxCount;
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             // APB CONFIGURATION REGISTERS
             time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t         *gptimer_regs         = (gptimer_regs_t *)        REGS_ADDR_GPTIMER;
             #ifdef GSA
             #else
                 waveform_picker_regs_t *waveform_picker_regs = (waveform_picker_regs_t*) REGS_ADDR_WAVEFORM_PICKER;
             #endif
             spectral_matrix_regs_t *spectral_matrix_regs = (spectral_matrix_regs_t*) REGS_ADDR_SPECTRAL_MATRIX;
             // WAVEFORMS GLOBAL VARIABLES // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes
             volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             //
             volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_snap_f1_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_snap_f1_norm[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             //
             volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_snap_f2_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_snap_f2_norm[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             //
             volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_cont_f3_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             // SPECTRAL MATRICES GLOBAL VARIABLES
             volatile int spec_mat_f0_0[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_1[ SM_HEADER + TOTAL_SIZE_SM ];
+            volatile int spec_mat_f0_a[ SM_HEADER + TOTAL_SIZE_SM ];
+            volatile int spec_mat_f0_b[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_c[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_d[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_e[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_f[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_g[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_h[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_0_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_1_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             //
             volatile int spec_mat_f1[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f1_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             //
             volatile int spec_mat_f2[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f2_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +49 -35

             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
-            #define CONFIGURE_INIT_TASK_PRIORITY 5 // instead of 100
+            #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
+            #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
+            #define CONFIGURE_MAXIMUM_TIMERS 5
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
+            #ifdef PRINT_STACK_REPORT
+                #define CONFIGURE_STACK_CHECKER_ENABLED
+            #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include <fsw_init.h>
             #include <fsw_config.c>
             rtems_task Init( rtems_task_argument ignored )
             {
                 rtems_status_code status;
                 rtems_isr_entry  old_isr_handler;
                 PRINTF("\n\n\n\n\n")
                 PRINTF("***************************\n")
                 PRINTF("** START Flight Software **\n")
                 PRINTF("***************************\n")
                 PRINTF("\n\n")
                 //send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 initLookUpTableForCRC(); // in tc_handler.h
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
+                create_names();         // create all names
                 create_message_queues();
-                create_names();         // create all names
                 create_all_tasks();     // create all tasks
                 start_all_tasks();      // start all tasks
                 stop_current_mode();    // go in STANDBY mode
                 grspw_timecode_callback = &timecode_irq_handler;
                 spacewire_configure_link();
             #ifdef GSA
+                // mask IRQ lines
+                LEON_Mask_interrupt( IRQ_SM );
+                LEON_Mask_interrupt( IRQ_WF );
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
                 // WaveForms
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_simulator_isr );
-                LEON_Mask_interrupt( IRQ_SM );
-                LEON_Mask_interrupt( IRQ_WF );
             #else
+                // mask IRQ lines
+                LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
+                LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
                 // reset configuration registers
                 reset_waveform_picker_regs();
                 reset_spectral_matrix_regs();
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrix unit
-                status = rtems_interrupt_catch( spectral_matrices_isr,
+            //    status = rtems_interrupt_catch( spectral_matrices_isr,
-                                               IRQ_SPARC_SPECTRAL_MATRIX,
+            //                                   IRQ_SPARC_SPECTRAL_MATRIX,
-                                               &old_isr_handler) ;
+            //                                   &old_isr_handler) ;
-                // mask IRQ lines
+                // Spectral Matrices simulator
-                LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
+                configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
-                LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
+                                IRQ_SPARC_SM, spectral_matrices_isr_simu );
             #endif
+                PRINTF("delete INIT\n")
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_parameter_dump( void )
             {
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
                 parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                 // DATA FIELD HEADER
                 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
             }
             void init_local_mode_parameters( void )
             {
                 // LOCAL PARAMETERS
                 set_local_sbm1_nb_cwf_max();
                 set_local_sbm2_nb_cwf_max();
                 set_local_nb_interrupt_f0_MAX();
                 PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 reset_local_sbm1_nb_cwf_sent();
                 reset_local_sbm2_nb_cwf_sent();
             }
             void init_housekeeping_parameters( void )
             {
                 unsigned int i = 0;
                 unsigned int j = 0;
                 unsigned int k = 0;
                 char *parameters;
                 parameters = (char*) &housekeeping_packet.lfr_status_word;
                 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = 0x00;
                 housekeeping_packet.lfr_status_word[1] = 0x00;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init sequence counters
                 for (i = 0; i<SEQ_CNT_NB_PID; i++)
                 {
                     for(j = 0; j<SEQ_CNT_NB_CAT; j++)
                     {
                         for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
                         {
                             sequenceCounters[i][j][k] = 0x00;
                         }
                     }
                 }
                 updateLFRCurrentMode();
             }
             int create_names( void )
             {
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 // rate monotonic period name
                 HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
+                misc_name[QUEUE_QUEU] = rtems_build_name( 'Q', 'U', 'E', 'U' );
+                misc_name[QUEUE_PKTS] = rtems_build_name( 'P', 'K', 'T', 'S' );
                 return 0;
             }
             int create_all_tasks( void )
             {
                 rtems_status_code status;
                 // RECV
                 status = rtems_task_create(
-                    Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 // ACTN
                 status = rtems_task_create(
-                    Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
-                    RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN]
+                    RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                 );
                 // SPIQ
                 status = rtems_task_create(
-                    Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                 );
                 // SMIQ
                 status = rtems_task_create(
-                    Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
                 );
                 // STAT
                 status = rtems_task_create(
-                    Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                 );
                 // AVF0
                 status = rtems_task_create(
-                    Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                 );
                 // BPF0
                 status = rtems_task_create(
-                    Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
                 );
                 // WFRM
                 status = rtems_task_create(
-                    Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                 );
                 // DUMB
                 status = rtems_task_create(
-                    Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                 );
                 // HOUS
                 status = rtems_task_create(
-                    Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                 );
                 // MATR
                 status = rtems_task_create(
-                    Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
                 );
                 // CWF3
                 status = rtems_task_create(
-                    Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF3]
                 );
                 // CWF2
                 status = rtems_task_create(
-                    Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF2]
                 );
                 // CWF1
                 status = rtems_task_create(
-                    Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF1]
                 );
                 // SEND
                 status = rtems_task_create(
-                    Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
                 );
                 return 0;
             }
             int start_all_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_ACTN\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_BPPR\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_STAT\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_AVF0\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_BPF0\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_WFRM\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_DUMB\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_HOUS\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_MATR\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_CWF3\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_CWF2\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_CWF1\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_SEND\n")
                 }
                 return 0;
             }
             int create_message_queues( void )
             {
                 rtems_status_code status;
-                misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
+                status = rtems_message_queue_create( misc_name[QUEUE_QUEU], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
-                misc_name[1] = rtems_build_name( 'P', 'K', 'T', 'S' );
+                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[QUEUE_QUEU] );
-                status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
-                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
                 if (status!=RTEMS_SUCCESSFUL) {
-                    PRINTF("in create_message_queues *** error creating QUEU\n")
+                    PRINTF("in create_message_queues *** ERR creating QUEU\n")
                 }
-                status = rtems_message_queue_create( misc_name[1], ACTION_MSG_PKTS_COUNT, sizeof(spw_ioctl_pkt_send),
+                status = rtems_message_queue_create( misc_name[QUEUE_PKTS], ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_SIZE,
-                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[1] );
+                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[QUEUE_PKTS] );
                 if (status!=RTEMS_SUCCESSFUL) {
-                    PRINTF("in create_message_queues *** error creating PKTS\n")
+                    PRINTF("in create_message_queues *** ERR creating PKTS\n")
                 }
                 return 0;
             }

src/fsw_misc.c +29 -7

             #include <fsw_misc.h>
             #include <fsw_params.h>
             int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             { // configure the timer for the waveforms simulation
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status==RTEMS_SUCCESSFUL)
                 {
                     PRINTF("In configure_timer *** rtems_interrupt_catch successfullly configured\n")
                 }
                 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
                 return 1;
             }
             int timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
                 return 1;
             }
             int timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 return 1;
             }
             int timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
             {
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
                 return 1;
             }
             void update_spacewire_statistics()
             {
                 rtems_status_code status;
                 spw_stats spacewire_stats_grspw;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
                         + spacewire_stats_grspw.packets_received;
                 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
                         + spacewire_stats_grspw.packets_sent;
                 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
                         + spacewire_stats_grspw.parity_err;
                 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
                         + spacewire_stats_grspw.disconnect_err;
                 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
                         + spacewire_stats_grspw.escape_err;
                 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
                         + spacewire_stats_grspw.credit_err;
                 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
                         + spacewire_stats_grspw.write_sync_err;
                 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
                         + spacewire_stats_grspw.rx_rmap_header_crc_err;
                 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
                         + spacewire_stats_grspw.rx_rmap_data_crc_err;
                 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
                         + spacewire_stats_grspw.early_ep;
                 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
                         + spacewire_stats_grspw.invalid_address;
                 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
                         +  spacewire_stats_grspw.rx_eep_err;
                 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
                         + spacewire_stats_grspw.rx_truncated;
                 //spacewire_stats.tx_link_err;
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
                 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
                 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb;
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb;
                 housekeeping_packet.hk_lfr_dpu_spw_header_crc = (unsigned char) spacewire_stats.rx_rmap_header_crc_err;
                 housekeeping_packet.hk_lfr_dpu_spw_data_crc = (unsigned char) spacewire_stats.rx_rmap_data_crc_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
             }
             int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = apbuart_regs->ctrl & APBUART_CTRL_REG_MASK_DB;
                 PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 return 0;
             }
             int set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
                 return 0;
             }
             //************
             // RTEMS TASKS
             rtems_task stat_task(rtems_task_argument argument)
             {
                 int i;
                 int j;
                 i = 0;
                 j = 0;
                 PRINTF("in STAT *** \n")
                 while(1){
                     rtems_task_wake_after(1000);
                     PRINTF1("%d\n", j)
                     if (i == CPU_USAGE_REPORT_PERIOD) {
             //            #ifdef PRINT_TASK_STATISTICS
             //            rtems_cpu_usage_report();
             //            rtems_cpu_usage_reset();
             //            #endif
                         i = 0;
                     }
                     else i++;
                     j++;
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send;
                 spw_ioctl_send.hlen = 0;
                 spw_ioctl_send.hdr = NULL;
-                spw_ioctl_send.dlen = sizeof(spw_ioctl_send);
+                spw_ioctl_send.dlen = PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 spw_ioctl_send.data = (char*) &housekeeping_packet;
                 spw_ioctl_send.options = 0;
                 PRINTF("in HOUS ***\n")
                 if (rtems_rate_monotonic_ident( HK_name, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( HK_name, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
                     }
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_HK >> 8);
                 housekeeping_packet.packetID[1] = (unsigned char) (TM_PACKET_ID_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
                 }
                 else {
                     PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_period *** code %d\n", status);
                     }
                     else {
                         housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                         housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                         housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                         housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                         housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         housekeeping_packet.sid = SID_HK;
                         update_spacewire_statistics();
                         // SEND PACKET
-                        //result = write( fdSPW, &housekeeping_packet, LEN_TM_LFR_HK);
+                        status =  rtems_message_queue_send( misc_id[QUEUE_PKTS], &spw_ioctl_send, sizeof(spw_ioctl_send));
-                        status =  rtems_message_queue_send( misc_id[1], &spw_ioctl_send, sizeof(spw_ioctl_send));
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR %d\n", (int) status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 printf( "rtems_task_delete returned with status of %d.\n", status );
                 exit( 1 );
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 rtems_status_code status;       // RTEMS status code
-                spw_ioctl_pkt_send spw_ioctl_send_CWF;  // incoming spw_ioctl_pkt_send structure
+                spw_ioctl_pkt_send spw_ioctl_send;  // incoming spw_ioctl_pkt_send structure
                 size_t size;                            // size of the incoming TC packet
+                u_int32_t count;
                 PRINTF("in SEND *** \n")
                 while(1)
                 {
-                    status = rtems_message_queue_receive(misc_id[1], (char*) &spw_ioctl_send_CWF, &size,
+                    status = rtems_message_queue_receive(misc_id[QUEUE_PKTS], (char*) &spw_ioctl_send, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
-                    if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
+                    if (status!=RTEMS_SUCCESSFUL)
+                    {
+                        PRINTF1("in SEND *** (1) ERR = %d \n", status)
+                    }
                     else
                     {
-                        status = write_spw(&spw_ioctl_send_CWF);
+                        status = write_spw(&spw_ioctl_send);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF("in SEND *** TRAFFIC JAM\n")
                         }
                     }
+                    status = rtems_message_queue_get_number_pending( misc_id[QUEUE_PKTS], &count );
+                    if (status != RTEMS_SUCCESSFUL)
+                    {
+                        PRINTF1("in SEND *** (2) ERR = %d \n", status)
+                    }
+                    else
+                    {
+                        if (count > maxCount)
+                        {
+                            maxCount = count;
                         }
                     }
+                }
+            }

src/fsw_processing.c +35 -7

             #include <fsw_processing.h>
             #include <math.h>
             #include <fsw_processing_globals.c>
             unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_SM_F0 * 9 ];
             BP1_t data_BP1[ NB_BINS_COMPRESSED_SM_F0 ];
             float averaged_spec_mat_f0[ TOTAL_SIZE_SM ];
             char averaged_spec_mat_f0_char[ TOTAL_SIZE_SM * 2 ];
             float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ];
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             rtems_isr spectral_matrices_isr( rtems_vector_number vector )
             {
                 unsigned char status;
                 unsigned char i;
                 status = spectral_matrix_regs->status; //[f2 f1 f0_1 f0_0]
                 for (i=0; i<4; i++)
                 {
                     if ( ( (status >> i) & 0x01) == 1)  // (1) buffer rotation
                     {
                         switch(i)
                         {
                         case 0:
                             if (spectral_matrix_regs->matrixF0_Address0 == (int) spec_mat_f0_0)
                             {
                                 spectral_matrix_regs->matrixF0_Address0 = (int) spec_mat_f0_0_bis;
                             }
                             else
                             {
                                 spectral_matrix_regs->matrixF0_Address0 = (int) spec_mat_f0_0;
                             }
                             spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffe;
                             break;
                         case 1:
                             if (spectral_matrix_regs->matrixFO_Address1 == (int) spec_mat_f0_1)
                             {
                                 spectral_matrix_regs->matrixFO_Address1 = (int) spec_mat_f0_1_bis;
                             }
                             else
                             {
                                 spectral_matrix_regs->matrixFO_Address1 = (int) spec_mat_f0_1;
                             }
                             spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffd;
                             break;
                         case 2:
                             if (spectral_matrix_regs->matrixF1_Address == (int) spec_mat_f1)
                             {
                                 spectral_matrix_regs->matrixF1_Address = (int) spec_mat_f1_bis;
                             }
                             else
                             {
                                 spectral_matrix_regs->matrixF1_Address = (int) spec_mat_f1;
                             }
                             spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffb;
                             break;
                         case 3:
                             if (spectral_matrix_regs->matrixF2_Address == (int) spec_mat_f2)
                             {
                                 spectral_matrix_regs->matrixF2_Address = (int) spec_mat_f2_bis;
                             }
                             else
                             {
                                 spectral_matrix_regs->matrixF2_Address = (int) spec_mat_f2;
                             }
                             spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffff7;
                             break;
                         default:
                             break;
                         }
                     }
                 }
                 // reset error codes to 0
                 spectral_matrix_regs->status = spectral_matrix_regs->status & 0xffffffcf; // [1100 1111]
                 if (rtems_event_send( Task_id[TASKID_SMIQ], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_4 );
                 }
             }
+            rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
+            {
+                if (rtems_event_send( Task_id[TASKID_SMIQ], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
+                    rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_4 );
+                }
+            }
             //************
             // RTEMS TASKS
             rtems_task smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
             {
                 rtems_event_set event_out;
                 unsigned int nb_interrupt_f0 = 0;
                 PRINTF("in SMIQ *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     nb_interrupt_f0 = nb_interrupt_f0 + 1;
-                    if (nb_interrupt_f0 == param_local.local_nb_interrupt_f0_MAX ){
+                    if (nb_interrupt_f0 == NB_SM_TO_RECEIVE_BEFORE_AVF0 ){
-                        if (rtems_event_send( Task_id[TASKID_MATR], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
+                        if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_interrupt_f0 = 0;
                     }
                 }
             }
+            //rtems_task smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
+            //{
+            //    rtems_event_set event_out;
+            //    unsigned int nb_interrupt_f0 = 0;
+            //    PRINTF("in SMIQ *** \n")
+            //    while(1){
+            //        rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
+            //        nb_interrupt_f0 = nb_interrupt_f0 + 1;
+            //        if (nb_interrupt_f0 == param_local.local_nb_interrupt_f0_MAX ){
+            //            if (rtems_event_send( Task_id[TASKID_MATR], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
+            //            {
+            //                rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
+            //            }
+            //            nb_interrupt_f0 = 0;
+            //        }
+            //    }
+            //}
             rtems_task spw_bppr_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 rtems_event_set event_out;
                 static int Nb_average_f0 = 0;
                 //static int nb_average_f1 = 0;
                 //static int nb_average_f2 = 0;
                 printf("in BPPR ***\n");
                 while(true){ // wait for an event to begin with the processing
                     status = rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out);
                     if (status == RTEMS_SUCCESSFUL) {
                         if ((spectral_matrix_regs->status & 0x00000001)==1) {
                             matrix_average(spec_mat_f0_0, averaged_spec_mat_f0);
                             spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffe;
                             //printf("f0_a\n");
                             Nb_average_f0++;
                         }
                         if (((spectral_matrix_regs->status>>1) & 0x00000001)==1) {
                             matrix_average(spec_mat_f0_1, compressed_spec_mat_f0);
                             spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffd;
                             //printf("f0_b\n");
                             Nb_average_f0++;
                         }
                         if (Nb_average_f0 == NB_AVERAGE_NORMAL_f0) {
                                 matrix_compression(averaged_spec_mat_f0, 0, compressed_spec_mat_f0);
                                 //printf("f0 compressed\n");
                                 Nb_average_f0 = 0;
                                 matrix_reset(averaged_spec_mat_f0);
                         }
                     }
                 }
             }
             rtems_task avf0_task(rtems_task_argument argument)
             {
-                //int i;
+                int i;
                 static int nb_average;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 nb_average = 0;
                 PRINTF("in AVFO *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
-                    /*for(i=0; i<TOTAL_SIZE_SM; i++){
+                    for(i=0; i<TOTAL_SIZE_SM; i++){
                         averaged_spec_mat_f0[i] = averaged_spec_mat_f0[i] + spec_mat_f0_a[i]
                                                         + spec_mat_f0_b[i]
                                                         + spec_mat_f0_c[i]
                                                         + spec_mat_f0_d[i]
                                                         + spec_mat_f0_e[i]
                                                         + spec_mat_f0_f[i]
                                                         + spec_mat_f0_g[i]
                                                         + spec_mat_f0_h[i];
-                    }*/
                     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 bpf0_task(rtems_task_argument argument)
             {
                 rtems_event_set event_out;
                 PRINTF("in BPFO *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     matrix_compression(averaged_spec_mat_f0, 0, compressed_spec_mat_f0);
                     BP1_set(compressed_spec_mat_f0, NB_BINS_COMPRESSED_SM_F0, LFR_BP1_F0);
                     //PRINTF("IN TASK BPF0 *** Matrix compressed, parameters calculated\n")
                 }
             }
             rtems_task matr_task(rtems_task_argument argument)
             {
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 rtems_event_set event_out;
                 Header_TM_LFR_SCIENCE_ASM_t headerASM;
                 init_header_asm( &headerASM );
                 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
             #ifdef GSA
             #else
                     fill_averaged_spectral_matrix( );
             #endif
                     convert_averaged_spectral_matrix( averaged_spec_mat_f0, averaged_spec_mat_f0_char);
                     send_spectral_matrix( &headerASM, averaged_spec_mat_f0_char, SID_NORM_ASM_F0, &spw_ioctl_send_ASM);
                 }
             }
             //*****************************
             // Spectral matrices processing
             void matrix_average(volatile int *spec_mat, volatile float *averaged_spec_mat)
             {
                 int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++){
                     averaged_spec_mat[i] = averaged_spec_mat[i] + spec_mat_f0_0[i]
                                                     + spec_mat_f0_1[i]
                                                     + spec_mat_f0_c[i]
                                                     + spec_mat_f0_d[i]
                                                     + spec_mat_f0_e[i]
                                                     + spec_mat_f0_f[i]
                                                     + spec_mat_f0_g[i]
                                                     + spec_mat_f0_h[i];
                 }
             }
             void matrix_reset(volatile float *averaged_spec_mat)
             {
             //    int i;
             //    for(i=0; i<TOTAL_SIZE_SM; i++){
             //        averaged_spec_mat_f0[i] = 0;
             //    }
             }
             void matrix_compression(volatile float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat)
             {
                 int i;
                 int j;
                 switch (fChannel){
                     case 0:
                             for(i=0;i<NB_BINS_COMPRESSED_SM_F0;i++){
                                 j = 17 + (i * 8);
                                 compressed_spec_mat[i] = (averaged_spec_mat[j]
                                                                 + averaged_spec_mat[j+1]
                                                                 + averaged_spec_mat[j+2]
                                                                 + averaged_spec_mat[j+3]
                                                                 + averaged_spec_mat[j+4]
                                                                 + averaged_spec_mat[j+5]
                                                                 + averaged_spec_mat[j+6]
                                                                 + averaged_spec_mat[j+7])/(8*NB_AVERAGE_NORMAL_f0);
                             }
                         break;
                     case 1:
                         // case fChannel = f1 to be completed later
                         break;
                     case 2:
                         // case fChannel = f1 to be completed later
                         break;
                     default:
                         break;
                 }
             }
             void BP1_set(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(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 >> 8);
+                header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
-                header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL);
+                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->cntASM = 0x00;
                 header->nrASM = 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->blkNr[0] = 0x00;  // BLK_NR MSB
                 header->blkNr[1] = 0x00;  // BLK_NR LSB
             }
             void send_spectral_matrix(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send)
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 header->sid = (unsigned char) sid;
                 for (i=0; i<2; i++)
                 {
                     // BUILD THE DATA
                     spw_ioctl_send->dlen = TOTAL_SIZE_SM;
                     spw_ioctl_send->data = &spectral_matrix[ i * TOTAL_SIZE_SM];
                     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;
                     // BUILD THE HEADER
                     length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM;
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->cntASM = 2;
                     header->nrASM = (unsigned char) (i+1);
                     header->blkNr[0] =(unsigned char)  ( (NB_BINS_PER_SM/2) >> 8 ); // BLK_NR MSB
                     header->blkNr[1] = (unsigned char)   (NB_BINS_PER_SM/2);        // BLK_NR LSB
                     // 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);
                     // SEND PACKET
                     status = write_spw(spw_ioctl_send);
                     if (status != RTEMS_SUCCESSFUL) {
                         while (true) {
                             if (status != RTEMS_SUCCESSFUL) {
                                 status = write_spw(spw_ioctl_send);
                                 //PRINTF1("%d", i)
                                 sched_yield();
                             }
                             else {
                                 //PRINTF("\n")
                                 break;
                             }
                         }
                     }
                 }
             }
             void convert_averaged_spectral_matrix( volatile float *input_matrix, char *output_matrix)
             {
                 unsigned int i;
                 unsigned int j;
                 char * pt_char_input;
                 char * pt_char_output;
                 pt_char_input = NULL;
                 pt_char_output = NULL;
                 for( i=0; i<NB_BINS_PER_SM; i++)
                 {
                     for ( j=0; j<NB_VALUES_PER_SM; j++)
                     {
                         pt_char_input =  (char*)  &input_matrix[       (i*NB_VALUES_PER_SM) + j   ];
                         pt_char_output = (char*) &output_matrix[ 2 * ( (i*NB_VALUES_PER_SM) + j ) ];
                         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 fill_averaged_spectral_matrix( )
             {
             #ifdef GSA
                 float offset = 10.;
                 float coeff = 100000.;
                 averaged_spec_mat_f0[ 0 + 25 * 0  ] = 0. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 1  ] = 1. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 2  ] = 2. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 3  ] = 3. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 4  ] = 4. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 5  ] = 5. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 6  ] = 6. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 7  ] = 7. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 8  ] = 8. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 9  ] = 9. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 10 ] = 10. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 11 ] = 11. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 12 ] = 12. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 13 ] = 13. + offset;
                 averaged_spec_mat_f0[ 0 + 25 * 14 ] = 14. + offset;
                 averaged_spec_mat_f0[ 9 + 25 * 0  ] = -(0. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 1  ] = -(1. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 2  ] = -(2. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 3  ] = -(3. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 4  ] = -(4. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 5  ] = -(5. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 6  ] = -(6. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 7  ] = -(7. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 8  ] = -(8. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 9  ] = -(9. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 10 ] = -(10. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 11 ] = -(11. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 12 ] = -(12. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 13 ] = -(13. + offset)* coeff;
                 averaged_spec_mat_f0[ 9 + 25 * 14 ] = -(14. + offset)* coeff;
                 offset = 10000000;
                 averaged_spec_mat_f0[ 16 + 25 * 0  ] = (0. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 1  ] = (1. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 2  ] = (2. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 3  ] = (3. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 4  ] = (4. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 5  ] = (5. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 6  ] = (6. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 7  ] = (7. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 8  ] = (8. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 9  ] = (9. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 10 ] = (10. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 11 ] = (11. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 12 ] = (12. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 13 ] = (13. + offset)* coeff;
                 averaged_spec_mat_f0[ 16 + 25 * 14 ] = (14. + offset)* coeff;
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 0 ] = averaged_spec_mat_f0[ 0 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 1 ] = averaged_spec_mat_f0[ 1 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 2 ] = averaged_spec_mat_f0[ 2 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 3 ] = averaged_spec_mat_f0[ 3 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 4 ] = averaged_spec_mat_f0[ 4 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 5 ] = averaged_spec_mat_f0[ 5 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 6 ] = averaged_spec_mat_f0[ 6 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 7 ] = averaged_spec_mat_f0[ 7 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 8 ] = averaged_spec_mat_f0[ 8 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 9 ] = averaged_spec_mat_f0[ 9 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 10 ] = averaged_spec_mat_f0[ 10 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 11 ] = averaged_spec_mat_f0[ 11 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 12 ] = averaged_spec_mat_f0[ 12 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 13 ] = averaged_spec_mat_f0[ 13 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 14 ] = averaged_spec_mat_f0[ 14 ];
                 averaged_spec_mat_f0[ (TOTAL_SIZE_SM/2) + 15 ] = averaged_spec_mat_f0[ 15 ];
             #else
                 unsigned int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     if (spectral_matrix_regs->matrixF0_Address0 == (int) spec_mat_f0_0)
                         averaged_spec_mat_f0[i] = (float) spec_mat_f0_0_bis[ SM_HEADER + i ];
                     else
                         averaged_spec_mat_f0[i] = (float) spec_mat_f0_0[ SM_HEADER + i ];
                 }
             #endif
             }
             void reset_spectral_matrix_regs()
             {
             #ifdef GSA
             #else
                 spectral_matrix_regs->matrixF0_Address0 = (int) spec_mat_f0_0;
                 spectral_matrix_regs->matrixFO_Address1 = (int) spec_mat_f0_1;
                 spectral_matrix_regs->matrixF1_Address = (int) spec_mat_f1;
                 spectral_matrix_regs->matrixF2_Address = (int) spec_mat_f2;
             #endif
             }
             //******************
             // general functions

src/tc_handler.c +68 -16

             #include <tc_handler.h>
             #include <fsw_params.h>
             char *DumbMessages[6] = {"in DUMB *** default",                                             // RTEMS_EVENT_0
                                 "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
                                 "in DUMB *** waveforms_isr",                                            // RTEMS_EVENT_2
                                 "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
                                 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
                                 "in DUMB *** waveforms_simulator_isr"                                   // RTEMS_EVENT_5
             };
             unsigned char currentTC_LEN_RCV[2]; //  SHALL be equal to the current TC packet estimated packet length field
             unsigned char currentTC_COMPUTED_CRC[2];
             unsigned int currentTC_LEN_RCV_AsUnsignedInt;
             unsigned int currentTM_length;
             unsigned char currentTC_processedFlag;
             unsigned int lookUpTableForCRC[256];
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void initLookUpTableForCRC( void )
             {
                 unsigned int i;
                 unsigned int tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) {
                         tmp = tmp ^ 0x1021;
                     }
                     if((i & 2) != 0) {
                         tmp = tmp ^ 0x2042;
                     }
                     if((i & 4) != 0) {
                         tmp = tmp ^ 0x4084;
                     }
                     if((i & 8) != 0) {
                         tmp = tmp ^ 0x8108;
                     }
                     if((i & 16) != 0) {
                         tmp = tmp ^ 0x1231;
                     }
                     if((i & 32) != 0) {
                         tmp = tmp ^ 0x2462;
                     }
                     if((i & 64) != 0) {
                         tmp = tmp ^ 0x48c4;
                     }
                     if((i & 128) != 0) {
                         tmp = tmp ^ 0x9188;
                     }
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
             void updateLFRCurrentMode()
             {
                 lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int TC_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
             {
                 int ret = 0;
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_CORRUPTED_t packet;
                 unsigned int parserCode = 0;
                 unsigned char computed_CRC[2];
                 unsigned int packetLength;
                 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
                 parserCode = TC_parser( TC, tc_len_recv ) ;
                 if ( (parserCode == ILLEGAL_APID) | (parserCode == WRONG_LEN_PACKET) | (parserCode == INCOR_CHECKSUM)
                     | (parserCode == ILL_TYPE) | (parserCode == ILL_SUBTYPE) | (parserCode == WRONG_APP_DATA) )
                 { // generate TM_LFR_TC_EXE_CORRUPTED
                     packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];
                     packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                     packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     packet.reserved = DEFAULT_RESERVED;
                     packet.userApplication = CCSDS_USER_APP;
                     // PACKET HEADER
                     packet.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                     packet.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                     packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                     packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED >> 8);
                     packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED     );
                     // DATA FIELD HEADER
                     packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     packet.serviceType = TM_TYPE_TC_EXE;
                     packet.serviceSubType = TM_SUBTYPE_EXE_NOK;
                     packet.destinationID = TM_DESTINATION_ID_GROUND;
                     packet.time[0] = (time_management_regs->coarse_time>>24 );
                     packet.time[1] = (time_management_regs->coarse_time>>16 );
                     packet.time[2] = (time_management_regs->coarse_time>>8  );
                     packet.time[3] = (time_management_regs->coarse_time     );
                     packet.time[4] = (time_management_regs->fine_time>>8    );
                     packet.time[5] = (time_management_regs->fine_time       );
                     //
                     packet.tc_failure_code[0] = (unsigned char) (FAILURE_CODE_CORRUPTED >> 8);
                     packet.tc_failure_code[1] = (unsigned char) (FAILURE_CODE_CORRUPTED     );
                     packet.telecommand_pkt_id[0] = TC->packetID[0];
                     packet.telecommand_pkt_id[1] = TC->packetID[1];
                     packet.pkt_seq_control[0] = TC->packetSequenceControl[0];
                     packet.pkt_seq_control[0] = TC->packetSequenceControl[1];
                     packet.tc_service = TC->serviceType;
                     packet.tc_subtype = TC->serviceSubType;
                     packet.pkt_len_rcv_value[0] = TC->packetLength[0];
                     packet.pkt_len_rcv_value[1] = TC->packetLength[1];
                     packet.pkt_datafieldsize_cnt[0] = currentTC_LEN_RCV[0];
                     packet.pkt_datafieldsize_cnt[1] = currentTC_LEN_RCV[1];
                     packet.rcv_crc[0] = TC->dataAndCRC[packetLength];
                     packet.rcv_crc[1] = TC->dataAndCRC[packetLength];
                     packet.computed_crc[0] = computed_CRC[0];
                     packet.computed_crc[1] = computed_CRC[1];
                     // SEND PACKET
                     status = write( fdSPW, (char *) &packet, PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET + 4);
                 }
                 else { // send valid TC to the action launcher
-                    status =  rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
+                    status =  rtems_message_queue_send( misc_id[QUEUE_QUEU], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
                     ret = -1;
                 }
                 return ret;
             }
             unsigned char TC_parser(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
             {
                 unsigned char ret = 0;
                 unsigned char pid = 0;
                 unsigned char category = 0;
                 unsigned int length = 0;
                 unsigned char packetType = 0;
                 unsigned char packetSubtype = 0;
                 unsigned char * CCSDSContent = NULL;
                 // APID check *** APID on 2 bytes
                 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category = (TMPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1];
                 packetType = TMPacket->serviceType;
                 packetSubtype = TMPacket->serviceSubType;
                 if ( pid != CCSDS_PROCESS_ID ) {
                     ret = ILLEGAL_APID;
                 }
                 else if ( category != CCSDS_PACKET_CATEGORY ) {
                     ret = ILLEGAL_APID;
                 }
                 else if (length != TC_LEN_RCV ) {   // packet length check
                     ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
                 }
                 else if ( length >= CCSDS_TC_PKT_MAX_SIZE ) {
                     ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
                 }
                 else if ( packetType == TC_TYPE_GEN ){ // service type, subtype and packet length check
                     switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
                         case TC_SUBTYPE_RESET:
                             if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_COMM:
                             if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_NORM:
                             if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_BURST:
                             if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_SBM1:
                             if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_SBM2:
                             if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_DUMP:
                             if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_ENTER:
                             if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_UPDT_INFO:
                             if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_EN_CAL:
                             if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_DIS_CAL:
                             if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         default:
                             ret = ILL_SUBTYPE;
                             break;
                     }
                 }
                 else if ( packetType == TC_TYPE_TIME ){
                     if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) {
                         ret = ILL_SUBTYPE;
                     }
                     else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
                         ret = WRONG_LEN_PACKET;
                     }
                     else {
                         ret = CCSDS_TM_VALID;
                     }
                 }
                 else {
                     ret = ILL_TYPE;
                 }
                 // source ID check // Source ID not documented in the ICD
                 // packet error control, CRC check
                 if ( ret == CCSDS_TM_VALID ) {
                     CCSDSContent = (unsigned char*) TMPacket->packetID;
                     GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                     if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
                         ret = INCOR_CHECKSUM;
                     }
                     else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
                         ret = INCOR_CHECKSUM;
                     }
                     else {
                         ret = CCSDS_TM_VALID;
                     }
                 }
                 return ret;
             }
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                            TMHeader_t *TMHeader, unsigned char tc_sid)
             {
                 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TMHeader->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TMHeader->reserved = 0x00;
                 TMHeader->userApplication = 0x00;
                 TMHeader->packetID[0] = 0x0c;
                 TMHeader->packetSequenceControl[0] = 0xc0;
                 TMHeader->packetSequenceControl[1] = 0x00;
                 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
                 TMHeader->packetLength[1] = (unsigned char) packetLength;
                 TMHeader->spare1_pusVersion_spare2 = 0x10;
                 TMHeader->destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 switch (tm_type){
                     case(TM_LFR_TC_EXE_OK):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE;
                         TMHeader->serviceType = TM_TYPE_TC_EXE;      // type
                         TMHeader->serviceSubType = TM_SUBTYPE_EXE_OK;   // subtype
                         TMHeader->destinationID = tc_sid;    // destination id
                         break;
                     case(TM_LFR_TC_EXE_ERR):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE;
                         TMHeader->serviceType = TM_TYPE_TC_EXE;      // type
                         TMHeader->serviceSubType = TM_SUBTYPE_EXE_NOK;  // subtype
                         TMHeader->destinationID = tc_sid;
                         break;
                     case(TM_LFR_HK):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_HK;
                         TMHeader->serviceType = TM_TYPE_HK;      // type
                         TMHeader->serviceSubType = TM_SUBTYPE_HK;   // subtype
                         break;
                     case(TM_LFR_SCI):
-                        TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_NORMAL;
+                        TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_NORMAL_BURST;
                         TMHeader->serviceType = TM_TYPE_LFR_SCIENCE; // type
                         TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE;  // subtype
                         break;
                     case(TM_LFR_SCI_SBM):
-                        TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2;
+                        TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_SBM1_SBM2;
                         TMHeader->serviceType = TM_TYPE_LFR_SCIENCE;  // type
                         TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE; // subtype
                         break;
                     case(TM_LFR_PAR_DUMP):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
                         TMHeader->serviceType = TM_TYPE_HK;  // type
                         TMHeader->serviceSubType = TM_SUBTYPE_HK; // subtype
                         break;
                     default:
                         return 0;
                 }
                 TMHeader->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TMHeader->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TMHeader->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TMHeader->time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TMHeader->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TMHeader->time[5] = (unsigned char) (time_management_regs->fine_time);
                 return LFR_SUCCESSFUL;
             }
             //***********
             // RTEMS TASK
             rtems_task recv_task( rtems_task_argument unused )
             {
                 int len = 0;
                 unsigned int i = 0;
                 unsigned int data_length = 0;
                 ccsdsTelecommandPacket_t currentTC;
                 char data[100];
                 for(i=0; i<100; i++) data[i] = 0;
                 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
                         PRINTF("In RECV *** last read call returned -1\n")
                         //if (rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) {
                         //    PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
                         //}
                         //if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) {
                         //    PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
                         //}
                     }
                     else {
-                        PRINTF1("Got pck of length %d\n", len+1)
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("In RECV *** packet lenght too short\n")
                         }
                         else {
                             currentTC_LEN_RCV[0] = 0x00;
                             currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); //  build the corresponding packet size field
                             currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             // CHECK THE TC AND BUILD THE APPROPRIATE TM
                             data_length = TC_acceptance(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
                             if (data_length!=-1)
                             {
                             }
                         }
                     }
                 }
             }
             rtems_task actn_task( rtems_task_argument unused )
             {
                 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
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 PRINTF("in ACTN *** \n")
                 while(1)
                 {
-                    status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
+                    status = rtems_message_queue_receive(misc_id[QUEUE_QUEU], (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
                                 result = action_reset( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
                                 result = action_load_common_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
                                 result = action_load_normal_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
                                 result = action_load_burst_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
                                 result = action_load_sbm1_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
                                 result = action_load_sbm2_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
                                 result = action_dump_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
                                 result = action_enter_mode( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
                                 result = action_update_info( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_enable_calibration( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_disable_calibration( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
                                 result = action_update_time( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4 | RTEMS_EVENT_5,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<32; i++)
                     {
                         if ( ((intEventOut >> i) & 0x0001) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC)
             {
                 send_tm_lfr_tc_exe_not_implemented( TC );
                 return LFR_DEFAULT;
             }
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 parameter_dump_packet.unused0 =  TC->dataAndCRC[0];
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
                 set_wfp_data_shaping(parameter_dump_packet.bw_sp0_sp1_r0_r1);
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
-                unsigned char lfrMode;
+                unsigned int tmp;
-                lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
+                result = LFR_SUCCESSFUL;
-                if ( lfrMode == LFR_MODE_NORMAL ) {
+                if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
+                    // sy_lfr_n_swf_l
                     parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[1];
-                    parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[2];
+                    // sy_lfr_n_swf_p
-                    parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[3];
+                    tmp = (unsigned int ) floor(
+                                (TC->dataAndCRC[2] * 256
+                                + TC->dataAndCRC[3])/8
+                            ) * 8;
+                    if ( (tmp < 16) || (tmp>65528) )
+                    {
+                        result = LFR_DEFAULT;
+                    }
+                    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     );
+                    }
+                    // sy_lfr_n_asm_p
                     parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[4];
                     parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[5];
+                    // sy_lfr_n_bp_p0
                     parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
+                    // sy_lfr_n_bp_p1
                     parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
-                    result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_BURST ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     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)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM1 ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     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)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM2 ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     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(ccsdsTelecommandPacket_t *TC)
             {
                 int status;
                 // send parameter dump packet
                 status = write(fdSPW, (char *) &parameter_dump_packet,
                                PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + 4);
                 if (status == -1)
                 {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                     status = RTEMS_UNSATISFIED;
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC)
             {
                 rtems_status_code status;
                 unsigned char requestedMode;
                 requestedMode = TC->dataAndCRC[1];
                 printf("try to enter mode %d\n", requestedMode);
             #ifdef PRINT_TASK_STATISTICS
                 if (requestedMode != LFR_MODE_STANDBY)
                 {
                     rtems_cpu_usage_reset();
+                    maxCount = 0;
                 }
             #endif
                 status = transition_validation(requestedMode);
                 if ( status == LFR_SUCCESSFUL ) {
                     if ( lfrCurrentMode != LFR_MODE_STANDBY)
                     {
                         status = stop_current_mode();
                     }
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter *** stop_current_mode\n")
                     }
                     status = enter_mode(requestedMode, TC);
                 }
                 else
                 {
                     PRINTF("ERR *** in action_enter *** transition rejected\n")
                     send_tm_lfr_tc_exe_not_executable( TC );
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC) {
                 unsigned int val;
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) ) {
                     send_tm_lfr_tc_exe_not_implemented( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
                             + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                     val++;
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
                 time_management_regs->ctrl = time_management_regs->ctrl | 1;
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int transition_validation(unsigned char requestedMode)
             {
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             int stop_current_mode()
             {
                 rtems_status_code status;
                 unsigned char lfrMode;
                 status = RTEMS_SUCCESSFUL;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
                 // mask all IRQ lines related to signal processing
                 LEON_Mask_interrupt( IRQ_SM );                  // mask spectral matrices interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_SM );                  // clear spectral matrices interrupt (coming from the timer VHDL IP)
             #ifdef GSA
                 LEON_Mask_interrupt( IRQ_WF );                  // mask waveform interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_WF );                  // clear waveform interrupt (coming from the timer VHDL IP)
                 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
             #else
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );     // clear waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );     // clear spectral matrix interrupt
+                LEON_Mask_interrupt( IRQ_SM );
             #endif
                 //**********************
                 // suspend several tasks
                 if (lfrMode != LFR_MODE_STANDBY) {
                     suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF("ERR *** in stop_current_mode *** suspending tasks\n")
                 }
                 //*************************
                 // initialize the registers
             #ifdef GSA
             #else
                 reset_wfp_burst_enable();   // reset burst and enable bits
                 reset_wfp_status();         // reset all the status bits
             #endif
                 return status;
             }
             int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC )
             {
                 rtems_status_code status;
                 status = RTEMS_UNSATISFIED;
                 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
                 lfrCurrentMode = mode;
                 switch(mode){
                 case LFR_MODE_STANDBY:
                     status = enter_standby_mode( TC );
                     break;
                 case LFR_MODE_NORMAL:
                     status = enter_normal_mode( TC );
                     break;
                 case LFR_MODE_BURST:
                     status = enter_burst_mode( TC );
                     break;
                 case LFR_MODE_SBM1:
                     status = enter_sbm1_mode( TC );
                     break;
                 case LFR_MODE_SBM2:
                     status = enter_sbm2_mode( TC );
                     break;
                 default:
                     status = RTEMS_UNSATISFIED;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in enter_mode *** ERR\n")
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_standby_mode()
             {
                 reset_waveform_picker_regs();
+                PRINTF1("maxCount = %d\n", maxCount)
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_report();
             #endif
+            #ifdef PRINT_STACK_REPORT
+                rtems_stack_checker_report_usage();
+            #endif
                 return LFR_SUCCESSFUL;
             }
             int enter_normal_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
             #ifdef GSA
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_WF );
                 LEON_Unmask_interrupt( IRQ_WF );
                 //
                 set_local_nb_interrupt_f0_MAX();
                 LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 //****************
                 // waveform picker
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_NORMAL);
                 //****************
                 // spectral matrix
                 set_local_nb_interrupt_f0_MAX();
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
                 spectral_matrix_regs->config = 0x01;
                 spectral_matrix_regs->status = 0x00;
             #endif
                 return status;
             }
             int enter_burst_mode()
             {
                 rtems_status_code status;
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 status = restart_science_tasks();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_BURST);
             #endif
                 return status;
             }
             int enter_sbm1_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm1_nb_cwf_max();
                 reset_local_sbm1_nb_cwf_sent();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM1);
+                // SM simulation
+                timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
+                LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
+                LEON_Unmask_interrupt( IRQ_SM );
              #endif
                 return status;
             }
             int enter_sbm2_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm2_nb_cwf_max();
                 reset_local_sbm2_nb_cwf_sent();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM2);
             #endif
                 return status;
             }
             int restart_science_tasks()
             {
                 rtems_status_code status[6];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
                 status[1] = rtems_task_restart( Task_id[TASKID_BPF0],1 );
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                      (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                     PRINTF("in restart_science_tasks *** ERR\n")
                 }
                 return ret;
             }
             int suspend_science_tasks()
             {
                 rtems_status_code status[6];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_suspend( Task_id[TASKID_AVF0] );
                 status[1] = rtems_task_suspend( Task_id[TASKID_BPF0] );
                 status[2] = rtems_task_suspend( Task_id[TASKID_WFRM] );
                 status[3] = rtems_task_suspend( Task_id[TASKID_CWF3] );
                 status[4] = rtems_task_suspend( Task_id[TASKID_CWF2] );
                 status[5] = rtems_task_suspend( Task_id[TASKID_CWF1] );
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                      (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                     PRINTF("in suspend_science_tasks *** ERR\n")
                 }
                 return ret;
             }
             //****************
             // CLOSING ACTIONS
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
             {
                 int ret;
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[4];
                 spw_ioctl_pkt_send spw_ioctl_send;
+                ret = LFR_SUCCESSFUL;
                 TM_build_header( TM_LFR_TC_EXE_OK, PACKET_LENGTH_TC_EXE_SUCCESS,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = TC->packetID[0];
                 data[1] = TC->packetID[1];
                 data[2] = TC->packetSequenceControl[0];
                 data[3] = TC->packetSequenceControl[1];
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 4;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
                 //status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
-                status =  rtems_message_queue_send( misc_id[1], &spw_ioctl_send, sizeof(spw_ioctl_send));
+                status =  rtems_message_queue_urgent( misc_id[QUEUE_PKTS], &spw_ioctl_send, sizeof(spw_ioctl_send));
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             int send_tm_lfr_tc_exe_not_executable(ccsdsTelecommandPacket_t *TC)
             {
+                int ret;
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[10];
                 spw_ioctl_pkt_send spw_ioctl_send;
+                ret = LFR_SUCCESSFUL;
                 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = (char) (FAILURE_CODE_NOT_EXECUTABLE >> 8);
                 data[1] = (char) FAILURE_CODE_NOT_EXECUTABLE;
                 data[2] = TC->packetID[0];
                 data[3] = TC->packetID[1];
                 data[4] = TC->packetSequenceControl[0];
                 data[5] = TC->packetSequenceControl[1];
                 data[6] = TC->serviceType;      // type of the rejected TC
                 data[7] = TC->serviceSubType;   // subtype of the rejected TC
                 data[8] = housekeeping_packet.lfr_status_word[0];
                 data[6] = housekeeping_packet.lfr_status_word[1];
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 10;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
-                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                //status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                status =  rtems_message_queue_urgent( misc_id[QUEUE_PKTS], &spw_ioctl_send, sizeof(spw_ioctl_send));
+                if (status != RTEMS_SUCCESSFUL) {
+                    PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
+                    ret = LFR_DEFAULT;
+                }
                 return LFR_SUCCESSFUL;
             }
             int send_tm_lfr_tc_exe_not_implemented(ccsdsTelecommandPacket_t *TC)
             {
+                int ret;
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[8];
                 spw_ioctl_pkt_send spw_ioctl_send;
+                ret = LFR_SUCCESSFUL;
                 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8);
                 data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED;
                 data[2] = TC->packetID[0];
                 data[3] = TC->packetID[1];
                 data[4] = TC->packetSequenceControl[0];
                 data[5] = TC->packetSequenceControl[1];
                 data[6] = TC->serviceType;      // type of the rejected TC
                 data[7] = TC->serviceSubType;   // subtype of the rejected TC
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 8;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
-                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                //status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                status =  rtems_message_queue_urgent( misc_id[QUEUE_PKTS], &spw_ioctl_send, sizeof(spw_ioctl_send));
+                if (status != RTEMS_SUCCESSFUL) {
+                    PRINTF("in send_tm_lfr_tc_exe_not_implemented *** ERR\n")
+                    ret = LFR_DEFAULT;
+                }
                 return LFR_SUCCESSFUL;
             }
             int send_tm_lfr_tc_exe_error(ccsdsTelecommandPacket_t *TC)
             {
+                int ret;
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[8];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_ERROR,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = (char) (FAILURE_CODE_ERROR >> 8);
                 data[1] = (char) FAILURE_CODE_ERROR;
                 data[2] = TC->packetID[0];
                 data[3] = TC->packetID[1];
                 data[4] = TC->packetSequenceControl[0];
                 data[5] = TC->packetSequenceControl[1];
                 data[6] = TC->serviceType;      // type of the rejected TC
                 data[7] = TC->serviceSubType;   // subtype of the rejected TC
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 8;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
-                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                //status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                status =  rtems_message_queue_urgent( misc_id[QUEUE_PKTS], &spw_ioctl_send, sizeof(spw_ioctl_send));
+                if (status != RTEMS_SUCCESSFUL) {
+                    PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
+                    ret = LFR_DEFAULT;
+                }
                 return LFR_SUCCESSFUL;
             }
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result)
             {
                 unsigned int val = 0;
                 if (result == LFR_SUCCESSFUL)
                 {
                     if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) ) )
                     {
                         send_tm_lfr_tc_exe_success( TC );
                     }
                     update_last_TC_exe( TC );
                     val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
                 else
                 {
                     update_last_TC_rej( TC );
                     val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }

src/wf_handler.c +124 -128

             #include <wf_handler.h>
-            Header_TM_LFR_SCIENCE_SWF_t headerSWF_F0_F1_F2[3][7];
+            // SWF
+            Header_TM_LFR_SCIENCE_SWF_t headerSWF_F0[7];
+            Header_TM_LFR_SCIENCE_SWF_t headerSWF_F1[7];
+            Header_TM_LFR_SCIENCE_SWF_t headerSWF_F2[7];
+            // CWF
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F1[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_BURST[7];
-            Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM1[7];
+            Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM2[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3[7];
             unsigned char doubleSendCWF1 = 0;
             unsigned char doubleSendCWF2 = 0;
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
             #ifdef GSA
             #else
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
                     }
                 }
             #endif
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ( (waveform_picker_regs->status & 0x7) == 0x7 ){     // [0111] f2 f1 and f0 are full
                         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 & 0xf888; // [1111 1000 1000 1000] f2, f1, f0 bits =0
             #endif
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
                     }
             #endif
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x02) == 0x02){ // [0010] check the f1 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if ( param_local.local_sbm1_nb_cwf_sent == (param_local.local_sbm1_nb_cwf_max-1) )
                         {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_norm);
                         }
                         else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1_norm )
                         {
                             doubleSendCWF1 = 1;
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1 ) {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bit = 0
                     }
                     if ( ( (waveform_picker_regs->status & 0x05) == 0x05 ) ) { // [0101] check the f2 and f0 full bit
                         if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2 and f0 bits = 0
                         reset_local_sbm1_nb_cwf_sent();
                     }
             #endif
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
-                        if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2 ) {
+                        if ( param_local.local_sbm2_nb_cwf_sent == (param_local.local_sbm2_nb_cwf_max-1) )
+                        {
+                            waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_norm);
+                        }
+                        else if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2_norm ) {
+                            waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
+                            doubleSendCWF2 = 1;
+                            if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2_WFRM ) != RTEMS_SUCCESSFUL) {
+                                rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
+                            }
+                            reset_local_sbm2_nb_cwf_sent();
+                        }
+                        else if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2 ) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                     }
                     if ( ( (waveform_picker_regs->status & 0x03) == 0x03 ) ) { // [0011] f3 f2 f1 f0, f1 and f0 are full
                         if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
-                        doubleSendCWF2 = 1;
-                        reset_local_sbm2_nb_cwf_sent();
                     }
             #endif
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
             }
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector )
             {
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 switch(lfrMode) {
                 case (LFR_MODE_STANDBY):
                     break;
                 case (LFR_MODE_NORMAL):
                     if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_5 );
                     }
                     break;
                 case (LFR_MODE_BURST):
                     break;
                 case (LFR_MODE_SBM1):
                     break;
                 case (LFR_MODE_SBM2):
                     break;
                 }
             }
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 rtems_event_set event_out;
-                init_header_snapshot_wf_table( SID_NORM_SWF_F0 );
+                init_header_snapshot_wf_table( SID_NORM_SWF_F0, headerSWF_F0 );
-                init_header_snapshot_wf_table( SID_NORM_SWF_F1 );
+                init_header_snapshot_wf_table( SID_NORM_SWF_F1, headerSWF_F1 );
-                init_header_snapshot_wf_table( SID_NORM_SWF_F2 );
+                init_header_snapshot_wf_table( SID_NORM_SWF_F2, headerSWF_F2 );
                 init_waveforms();
                 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_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);
                     switch( event_out) {
                     case RTEMS_EVENT_MODE_NORMAL:
-                            send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0);
+                        send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0);
-                            send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1);
+                        send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1, headerSWF_F1);
-                            send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2);
+                        send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2, headerSWF_F2);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xf888; // [1111 1000 1000 1000] f2, f1, f0 bits =0
             #endif
                         break;
                     case RTEMS_EVENT_MODE_SBM1:
-                            send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0);
+                        send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0);
-                            send_waveform_SWF(wf_snap_f1_norm, SID_NORM_SWF_F1);
+                        send_waveform_SWF(wf_snap_f1_norm, SID_NORM_SWF_F1, headerSWF_F1);
-                            send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2);
+                        send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2, headerSWF_F2);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2, f0 bits = 0
             #endif
                         break;
                     case RTEMS_EVENT_MODE_SBM2:
-                            send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0);
+                        send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0);
-                            send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1);
+                        send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1, headerSWF_F1);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
             #endif
                         break;
+                    case RTEMS_EVENT_MODE_SBM2_WFRM:
+                        send_waveform_SWF(wf_snap_f2_norm, SID_NORM_SWF_F2, headerSWF_F2);
+                        break;
                     default:
                         break;
                     }
             #ifdef GSA
                     // irq processed, reset the related register of the timer unit
                     gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl = gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl | 0x00000010;
                     // clear the interruption
                     LEON_Unmask_interrupt( IRQ_WF );
             #endif
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 rtems_event_set event_out;
                 init_header_continuous_wf_table( SID_NORM_CWF_F3, headerCWF_F3 );
                 PRINTF("in CWF3 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("send CWF F3 \n")
             #ifdef GSA
             #else
                     if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                         send_waveform_CWF( wf_cont_f3_bis, SID_NORM_CWF_F3, headerCWF_F3 );
                     }
                     else {
                         send_waveform_CWF( wf_cont_f3, SID_NORM_CWF_F3, headerCWF_F3 );
                     }
             #endif
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 rtems_event_set event_out;
                 init_header_continuous_wf_table( SID_BURST_CWF_F2, headerCWF_F2_BURST );
-                init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM1 );
+                init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                 PRINTF("in CWF2 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         // F2
             #ifdef GSA
             #else
                         if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                            send_waveform_CWF( wf_snap_f2_bis, SID_BURST_CWF_F2, headerCWF_F2_BURST );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f2, SID_BURST_CWF_F2, headerCWF_F2_BURST );
                         }
                     #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
             #ifdef GSA
             #else
-                        if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
+                        if (doubleSendCWF2 == 1)
-                            send_waveform_CWF( wf_snap_f2_bis, SID_SBM2_CWF_F2, headerCWF_F2_SBM1 );
+                            doubleSendCWF2 = 0;
+                            send_waveform_CWF( wf_snap_f2_norm, SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
+                        }
+                        else if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
+                            send_waveform_CWF( wf_snap_f2_bis, SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                         }
                         else {
-                            send_waveform_CWF( wf_snap_f2, SID_SBM2_CWF_F2, headerCWF_F2_SBM1 );
+                            send_waveform_CWF( wf_snap_f2, SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                         }
+                        param_local.local_sbm2_nb_cwf_sent ++;
             #endif
                     }
                     else
                     {
                         PRINTF1("in CWF2 *** ERR mode = %d\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
                 rtems_event_set event_out;
                 init_header_continuous_wf_table( SID_SBM1_CWF_F1, headerCWF_F1 );
                 PRINTF("in CWF1 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
             #ifdef GSA
             #else
                         if (doubleSendCWF1 == 1)
                         {
                             doubleSendCWF1 = 0;
                             send_waveform_CWF( wf_snap_f1_norm, SID_SBM1_CWF_F1, headerCWF_F1 );
                         }
                         else if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {
                            send_waveform_CWF( wf_snap_f1_bis, SID_SBM1_CWF_F1, headerCWF_F1 );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f1, SID_SBM1_CWF_F1, headerCWF_F1);
                         }
                         param_local.local_sbm1_nb_cwf_sent ++;
             #endif
                     }
                     else
                     {
                         PRINTF1("in CWF1 *** ERR mode = %d\n", lfrCurrentMode)
                     }
                 }
             }
             //******************
             // general functions
             void init_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     //***
                     // F0
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777;     //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;    //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0x44443333;    //
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F3
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;
                 }
             }
-            int init_header_snapshot_wf_table( unsigned int sid)
+            int init_header_snapshot_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF)
             {
                 unsigned char i;
-                unsigned char j;
-                j = 0;
-                switch(sid)
-                case SID_NORM_SWF_F0:
-                    j = 0;
-                    break;
-                case SID_NORM_SWF_F1:
-                    j = 1;
-                    break;
-                case SID_NORM_SWF_F2:
-                    j = 2;
-                    break;
-                default:
-                    return LFR_DEFAULT;
                 for (i=0; i<7; i++)
                 {
-                    headerSWF_F0_F1_F2[j][i].targetLogicalAddress = CCSDS_DESTINATION_ID;
+                    headerSWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
-                    headerSWF_F0_F1_F2[j][i].protocolIdentifier = CCSDS_PROTOCOLE_ID;
+                    headerSWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
-                    headerSWF_F0_F1_F2[j][i].reserved = DEFAULT_RESERVED;
+                    headerSWF[ i ].reserved = DEFAULT_RESERVED;
-                    headerSWF_F0_F1_F2[j][i].userApplication = CCSDS_USER_APP;
+                    headerSWF[ i ].userApplication = CCSDS_USER_APP;
-                    headerSWF_F0_F1_F2[j][i].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL >> 8);
+                    headerSWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
-                    headerSWF_F0_F1_F2[j][i].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL);
+                    headerSWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     if (i == 0)
                     {
-                        headerSWF_F0_F1_F2[j][i].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
+                        headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
-                        headerSWF_F0_F1_F2[j][i].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
+                        headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
-                        headerSWF_F0_F1_F2[j][i].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
+                        headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
-                        headerSWF_F0_F1_F2[j][i].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
+                        headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
-                        headerSWF_F0_F1_F2[j][i].blkNr[1] = (unsigned char) (BLK_NR_340     );
+                        headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
-                        headerSWF_F0_F1_F2[j][i].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
+                        headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
-                        headerSWF_F0_F1_F2[j][i].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_8 >> 8);
+                        headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_8 >> 8);
-                        headerSWF_F0_F1_F2[j][i].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_8     );
+                        headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_8     );
-                        headerSWF_F0_F1_F2[j][i].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
+                        headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
-                        headerSWF_F0_F1_F2[j][i].blkNr[1] = (unsigned char) (BLK_NR_8     );
+                        headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
-                        headerSWF_F0_F1_F2[j][i].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
+                        headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
-                        headerSWF_F0_F1_F2[j][i].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
+                        headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
-                        headerSWF_F0_F1_F2[j][i].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
+                        headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
-                        headerSWF_F0_F1_F2[j][i].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
+                        headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
-                        headerSWF_F0_F1_F2[j][i].blkNr[1] = (unsigned char) (BLK_NR_340     );
+                        headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
-                    headerSWF_F0_F1_F2[j][i].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
+                    headerSWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
-                    headerSWF_F0_F1_F2[j][i].pktCnt = DEFAULT_PKTCNT;  // PKT_CNT
+                    headerSWF[ i ].pktCnt = DEFAULT_PKTCNT;  // PKT_CNT
-                    headerSWF_F0_F1_F2[j][i].pktNr = i+1;    // PKT_NR
+                    headerSWF[ i ].pktNr = i+1;    // PKT_NR
                     // DATA FIELD HEADER
-                    headerSWF_F0_F1_F2[j][i].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
+                    headerSWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
-                    headerSWF_F0_F1_F2[j][i].serviceType = TM_TYPE_LFR_SCIENCE; // service type
+                    headerSWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
-                    headerSWF_F0_F1_F2[j][i].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
+                    headerSWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
-                    headerSWF_F0_F1_F2[j][i].destinationID = TM_DESTINATION_ID_GROUND;
+                    headerSWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
-                    headerSWF_F0_F1_F2[j][i].sid = sid;
+                    headerSWF[ i ].sid = sid;
-                    headerSWF_F0_F1_F2[j][i].hkBIA = DEFAULT_HKBIA;
+                    headerSWF[ i ].hkBIA = DEFAULT_HKBIA;
-                    headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
+                    headerSWF[ i ].time[0] = 0x00;
-                    headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
+                    headerSWF[ i ].time[0] = 0x00;
-                    headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
+                    headerSWF[ i ].time[0] = 0x00;
-                    headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
+                    headerSWF[ i ].time[0] = 0x00;
-                    headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
+                    headerSWF[ i ].time[0] = 0x00;
-                    headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
+                    headerSWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<7; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
-                    headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2 >> 8);
+                    if (SID_SBM1_CWF_F1 || SID_SBM2_CWF_F2)
-                    headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2);
+                        headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2 >> 8);
+                        headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2);
+                    }
+                    else
+                    {
+                        headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
+                        headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
+                    }
                     if (i == 0)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_8 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_8     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // PKT_CNT
                     // PKT_NR
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = sid;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             void reset_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x10002000;
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x1000f000;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0xf0001000;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x40008000;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x10002000;
                     //***
                     // F3
                     /*wf_cont_f3[ i* NB_WORDS_SWF_BLK + 0 ] = build_value(   i, i );   // v  and 1
                     wf_cont_f3[ i* NB_WORDS_SWF_BLK + 1 ] = build_value(   i, i );   // e2 and b1
                     wf_cont_f3[ i* NB_WORDS_SWF_BLK + 2 ] = build_value(   i, i );   // b2 and b3*/
                 }
             }
-            int send_waveform_SWF( volatile int *waveform, unsigned int sid )
+            int send_waveform_SWF( volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF )
             {
                 unsigned int i;
-                unsigned int j;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 spw_ioctl_send_SWF.hlen = TM_HEADER_LEN + 4 + 12; // + 4 is for the protocole extra header, + 12 is for the auxiliary header
                 spw_ioctl_send_SWF.options = 0;
-                j = 0;
                 ret = LFR_DEFAULT;
-                switch(sid)
-                case SID_NORM_SWF_F0:
-                    j = 0;
-                    break;
-                case SID_NORM_SWF_F1:
-                    j = 1;
-                    break;
-                case SID_NORM_SWF_F2:
-                    j = 2;
-                    break;
-                default:
-                    ret = LFR_DEFAULT;
-                    break;
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
-                    spw_ioctl_send_SWF.hdr = (char*) &headerSWF_F0_F1_F2[j][i];
+                    spw_ioctl_send_SWF.hdr = (char*) &headerSWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_SWF.dlen = 8 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_SWF.dlen = 340 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET TIME
-                    headerSWF_F0_F1_F2[j][i].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                    headerSWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                    headerSWF_F0_F1_F2[j][i].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                    headerSWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                    headerSWF_F0_F1_F2[j][i].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                    headerSWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                    headerSWF_F0_F1_F2[j][i].time[3] = (unsigned char) (time_management_regs->coarse_time);
+                    headerSWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
-                    headerSWF_F0_F1_F2[j][i].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                    headerSWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                    headerSWF_F0_F1_F2[j][i].time[5] = (unsigned char) (time_management_regs->fine_time);
+                    headerSWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
-                    headerSWF_F0_F1_F2[j][i].acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                    headerSWF[ i ].acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                    headerSWF_F0_F1_F2[j][i].acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                    headerSWF[ i ].acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                    headerSWF_F0_F1_F2[j][i].acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                    headerSWF[ i ].acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                    headerSWF_F0_F1_F2[j][i].acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
+                    headerSWF[ i ].acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
-                    headerSWF_F0_F1_F2[j][i].acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                    headerSWF[ i ].acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                    headerSWF_F0_F1_F2[j][i].acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
+                    headerSWF[ i ].acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                     // SEND PACKET
-                    //status = write_spw(&spw_ioctl_send_SWF);
+                    status =  rtems_message_queue_send( misc_id[QUEUE_PKTS], &spw_ioctl_send_SWF, ACTION_MSG_PKTS_SIZE);
-                    status =  rtems_message_queue_send( misc_id[1], &spw_ioctl_send_SWF, sizeof(spw_ioctl_send_SWF));
                     if (status != RTEMS_SUCCESSFUL) {
-                        PRINTF2("sid %d, i = %d\n", sid, i)
+                        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)
             {
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 for (i=0; i<7; i++) // send waveform
                 {
                     int coarseTime = 0x00;
                     int fineTime = 0x00;
                     spw_ioctl_send_CWF.data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_CWF.dlen = 8 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_CWF.dlen = 340 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET TIME
                     coarseTime = time_management_regs->coarse_time;
                     fineTime = time_management_regs->fine_time;
                     headerCWF[ i ].time[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].time[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (fineTime);
                     headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     // SEND PACKET
-                    //status = write_spw(&spw_ioctl_send_CWF);
+                    if (sid == SID_NORM_CWF_F3)
-                    status =  rtems_message_queue_urgent( misc_id[1], &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
+                        status =  rtems_message_queue_send( misc_id[QUEUE_PKTS], &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
-                        PRINTF2("sid %d, i = %d\n", sid, i)
+                            printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
+                        rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
+                    }
                     else
                     {
-                        sched_yield();
+                        status =  rtems_message_queue_urgent( misc_id[QUEUE_PKTS], &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;
                         }
-                    if (sid == SID_NORM_CWF_F3)
-                        rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                     }
                 }
                 return ret;
             }
             //**************
             // wfp registers
             void set_wfp_data_shaping()
             {
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.bw_sp0_sp1_r0_r1;
             #ifdef GSA
             #else
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x10) >> 4 )     // BW
                         + ( (data_shaping & 0x08) >> 2 )     // SP0
                         + ( (data_shaping & 0x04)      )     // SP1
                         + ( (data_shaping & 0x02) << 2 )     // R0
                         + ( (data_shaping & 0x01) << 4 );    // R1
             #endif
             }
             char set_wfp_delta_snapshot()
             {
                 char ret;
                 unsigned int delta_snapshot;
                 ret = LFR_DEFAULT;
                 delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
             #ifdef GSA
             #else
                 unsigned char aux = 0;
                 if ( delta_snapshot < MIN_DELTA_SNAPSHOT )
                 {
                     aux = MIN_DELTA_SNAPSHOT;
                     ret = LFR_DEFAULT;
                 }
                 else
                 {
                     aux = delta_snapshot ;
                     ret = LFR_SUCCESSFUL;
                 }
                 waveform_picker_regs->delta_snapshot = aux;             // max 2 bytes
             #endif
                 return ret;
             }
             void set_wfp_burst_enable_register( unsigned char mode)
             {
             #ifdef GSA
             #else
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case(LFR_MODE_NORMAL):
                     waveform_picker_regs->burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x04; // [0100] enable f2
                     break;
                 case(LFR_MODE_SBM1):
                     waveform_picker_regs->burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     waveform_picker_regs->burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             #endif
             }
             void reset_wfp_burst_enable()
             {
             #ifdef GSA
             #else
                 waveform_picker_regs->burst_enable = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_wfp_status()
             {
             #ifdef GSA
             #else
                 waveform_picker_regs->status = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_waveform_picker_regs()
             {
             #ifdef GSA
             #else
                 set_wfp_data_shaping();
                 reset_wfp_burst_enable();
                 waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0);    //
                 waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);    //
                 waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);    //
                 waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);    //
                 set_wfp_delta_snapshot();                           // time in seconds between two snapshots
                 waveform_picker_regs->delta_f2_f1 = 0xffff;         // 0x16800 => 92160 (max 4 bytes)
                 waveform_picker_regs->delta_f2_f0 = 0x17c00;        // 97 280 (max 5 bytes)
                 waveform_picker_regs->nb_burst_available = 0x180;   // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets)
                 waveform_picker_regs->nb_snapshot_param = 0x7ff;    // max 3 octets, 2048 - 1
                 waveform_picker_regs->status = 0x00;                //
             #endif
             }
             //*****************
             // local parameters
             void set_local_sbm1_nb_cwf_max()
             {
                 // (2 snapshots of 2048 points per seconds) * (period of the NORM snashots) - 8 s (duration of the f2 snapshot)
-                param_local.local_sbm1_nb_cwf_max = 2 * (
+                param_local.local_sbm1_nb_cwf_max = 2 *
-                            parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
+                        (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
-                            + parameter_dump_packet.sy_lfr_n_swf_p[1]
+                        + parameter_dump_packet.sy_lfr_n_swf_p[1]) - 8; // 16 CWF1 parts during 1 SWF2
-                         ) - 8; // 16 CWF1 parts during 1 SWF2
             }
             void set_local_sbm2_nb_cwf_max()
             {
                 // (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)
-                param_local.local_sbm2_nb_cwf_max = (
+                param_local.local_sbm2_nb_cwf_max = (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
-                            parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
+                        + parameter_dump_packet.sy_lfr_n_swf_p[1]) / 8;
-                            + parameter_dump_packet.sy_lfr_n_swf_p[1]
-                         )/ 8;
             }
             void set_local_nb_interrupt_f0_MAX()
             {
                 param_local.local_nb_interrupt_f0_MAX = ( (parameter_dump_packet.sy_lfr_n_asm_p[0]) * 256
                         + parameter_dump_packet.sy_lfr_n_asm_p[1] ) * 100;
             }
             void reset_local_sbm1_nb_cwf_sent()
             {
                 param_local.local_sbm1_nb_cwf_sent = 0;
             }
             void reset_local_sbm2_nb_cwf_sent()
             {
                 param_local.local_sbm2_nb_cwf_sent = 0;
             }

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