HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r45:c48d02b72186

Minor changes in .h inclusion

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header/tc_acceptance.h created 644 +24 0

@@ -0,0 +1,24
	1	#ifndef TC_ACCEPTANCE_H_INCLUDED
	2	#define TC_ACCEPTANCE_H_INCLUDED
	3
	4	//#include "tm_lfr_tc_exe.h"
	5	#include "fsw_params.h"
	6
	7	//**********************
	8	// GENERAL USE FUNCTIONS
	9	unsigned int Crc_opt( unsigned char D, unsigned int Chk);
	10	void initLookUpTableForCRC( void );
	11	void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
	12
	13	//*********************
	14	// ACCEPTANCE FUNCTIONS
	15	int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int TC_LEN_RCV, unsigned char *computed_CRC);
	16	int tc_check_type( unsigned char packetType );
	17	int tc_check_subtype( unsigned char packetType );
	18	int tc_check_length( unsigned char packetType, unsigned int length );
	19	int tc_check_crc(ccsdsTelecommandPacket_t * TCPacket, unsigned int length , unsigned char *computed_CRC);
	20
	21	#endif // TC_ACCEPTANCE_H_INCLUDED
	22
	23
	24

src/tc_acceptance.c created 644 +374 0

@@ -0,0 +1,374
	1	/** Functions related to TeleCommand acceptance.
	2	*
	3	* @file
	4	* @author P. LEROY
	5	*
	6	* A group of functions to handle TeleCommands parsing.\n
	7	*
	8	*/
	9
	10	#include "tc_acceptance.h"
	11
	12	unsigned int lookUpTableForCRC[256];
	13
	14	//**********************
	15	// GENERAL USE FUNCTIONS
	16	unsigned int Crc_opt( unsigned char D, unsigned int Chk)
	17	{
	18	/** This function generate the CRC for one byte and returns the value of the new syndrome.
	19	*
	20	* @param D is the current byte of data.
	21	* @param Chk is the current syndrom value.
	22	* @return the value of the new syndrome on two bytes.
	23	*
	24	*/
	25
	26	return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
	27	}
	28
	29	void initLookUpTableForCRC( void )
	30	{
	31	/** This function is used to initiates the look-up table for fast CRC computation.
	32	*
	33	* The global table lookUpTableForCRC[256] is initiated.
	34	*
	35	*/
	36
	37	unsigned int i;
	38	unsigned int tmp;
	39
	40	for (i=0; i<256; i++)
	41	{
	42	tmp = 0;
	43	if((i & 1) != 0) {
	44	tmp = tmp ^ 0x1021;
	45	}
	46	if((i & 2) != 0) {
	47	tmp = tmp ^ 0x2042;
	48	}
	49	if((i & 4) != 0) {
	50	tmp = tmp ^ 0x4084;
	51	}
	52	if((i & 8) != 0) {
	53	tmp = tmp ^ 0x8108;
	54	}
	55	if((i & 16) != 0) {
	56	tmp = tmp ^ 0x1231;
	57	}
	58	if((i & 32) != 0) {
	59	tmp = tmp ^ 0x2462;
	60	}
	61	if((i & 64) != 0) {
	62	tmp = tmp ^ 0x48c4;
	63	}
	64	if((i & 128) != 0) {
	65	tmp = tmp ^ 0x9188;
	66	}
	67	lookUpTableForCRC[i] = tmp;
	68	}
	69	}
	70
	71	void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
	72	{
	73	/** This function calculates a two bytes Cyclic Redundancy Code.
	74	*
	75	* @param data points to a buffer containing the data on which to compute the CRC.
	76	* @param crcAsTwoBytes points points to a two bytes buffer in which the CRC is stored.
	77	* @param sizeOfData is the number of bytes of data used to compute the CRC.
	78	*
	79	* The specification of the Cyclic Redundancy Code is described in the following document: ECSS-E-70-41-A.
	80	*
	81	*/
	82
	83	unsigned int Chk;
	84	int j;
	85	Chk = 0xffff; // reset the syndrom to all ones
	86	for (j=0; j<sizeOfData; j++) {
	87	Chk = Crc_opt(data[j], Chk);
	88	}
	89	crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
	90	crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
	91	}
	92
	93	//*********************
	94	// ACCEPTANCE FUNCTIONS
	95	int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int TC_LEN_RCV, unsigned char *computed_CRC)
	96	{
	97	/** This function parses TeleCommands.
	98	*
	99	* @param TC points to the TeleCommand that will be parsed.
	100	* @param TC_LEN_RCV is the received packet length.
	101	* @return Status code of the parsing.
	102	*
	103	* The parsing checks:
	104	* - process id
	105	* - category
	106	* - length: a global check is performed and a per subtype check also
	107	* - type
	108	* - subtype
	109	* - crc
	110	*
	111	*/
	112
	113	int status;
	114	unsigned char pid;
	115	unsigned char category;
	116	unsigned int length;
	117	unsigned char packetType;
	118	unsigned char packetSubtype;
	119
	120	status = CCSDS_TM_VALID;
	121
	122	// APID check *** APID on 2 bytes
	123	pid = ((TCPacket->packetID[0] & 0x07)<<4) + ( (TCPacket->packetID[1]>>4) & 0x0f ); // PID = 11 *** 7 bits xxxxx210 7654xxxx
	124	category = (TCPacket->packetID[1] & 0x0f); // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
	125	length = (TCPacket->packetLength[0] * 256) + TCPacket->packetLength[1];
	126	packetType = TCPacket->serviceType;
	127	packetSubtype = TCPacket->serviceSubType;
	128
	129	if ( pid != CCSDS_PROCESS_ID ) // CHECK THE PROCESS ID
	130	{
	131	status = ILLEGAL_APID;
	132	}
	133	if (status == CCSDS_TM_VALID) // CHECK THE CATEGORY
	134	{
	135	if ( category != CCSDS_PACKET_CATEGORY )
	136	{
	137	status = ILLEGAL_APID;
	138	}
	139	}
	140	if (status == CCSDS_TM_VALID) // CHECK THE PACKET LENGTH FIELD AND THE ACTUAL LENGTH COMPLIANCE
	141	{
	142	if (length != TC_LEN_RCV ) {
	143	status = WRONG_LEN_PACKET;
	144	}
	145	}
	146	if (status == CCSDS_TM_VALID) // CHECK THAT THE PACKET DOES NOT EXCEED THE MAX SIZE
	147	{
	148	if ( length >= CCSDS_TC_PKT_MAX_SIZE ) {
	149	status = WRONG_LEN_PACKET;
	150	}
	151	}
	152	if (status == CCSDS_TM_VALID) // CHECK THE TYPE
	153	{
	154	status = tc_check_type( packetType );
	155	}
	156	if (status == CCSDS_TM_VALID) // CHECK THE SUBTYPE
	157	{
	158	status = tc_check_subtype( packetSubtype );
	159	}
	160	if (status == CCSDS_TM_VALID) // CHECK THE SUBTYPE AND LENGTH COMPLIANCE
	161	{
	162	status = tc_check_length( packetSubtype, length );
	163	}
	164	if (status == CCSDS_TM_VALID ) // CHECK CRC
	165	{
	166	status = tc_check_crc( TCPacket, length, computed_CRC );
	167	}
	168
	169	return status;
	170	}
	171
	172	int tc_check_type( unsigned char packetType )
	173	{
	174	/** This function checks that the type of a TeleCommand is valid.
	175	*
	176	* @param packetType is the type to check.
	177	* @return Status code CCSDS_TM_VALID or ILL_TYPE.
	178	*
	179	*/
	180
	181	int status;
	182
	183	if ( (packetType == TC_TYPE_GEN) \|\| (packetType == TC_TYPE_TIME))
	184	{
	185	status = CCSDS_TM_VALID;
	186	}
	187	else
	188	{
	189	status = ILL_TYPE;
	190	}
	191
	192	return status;
	193	}
	194
	195	int tc_check_subtype( unsigned char packetSubType )
	196	{
	197	/** This function checks that the subtype of a TeleCommand is valid.
	198	*
	199	* @param packetSubType is the subtype to check.
	200	* @return Status code CCSDS_TM_VALID or ILL_SUBTYPE.
	201	*
	202	*/
	203
	204	int status;
	205
	206	if ( (packetSubType == TC_SUBTYPE_RESET)
	207	\|\| (packetSubType == TC_SUBTYPE_LOAD_COMM)
	208	\|\| (packetSubType == TC_SUBTYPE_LOAD_NORM) \|\| (packetSubType == TC_SUBTYPE_LOAD_BURST)
	209	\|\| (packetSubType == TC_SUBTYPE_LOAD_SBM1) \|\| (packetSubType == TC_SUBTYPE_LOAD_SBM2)
	210	\|\| (packetSubType == TC_SUBTYPE_DUMP)
	211	\|\| (packetSubType == TC_SUBTYPE_ENTER)
	212	\|\| (packetSubType == TC_SUBTYPE_UPDT_INFO) \|\| (packetSubType == TC_SUBTYPE_UPDT_TIME)
	213	\|\| (packetSubType == TC_SUBTYPE_EN_CAL) \|\| (packetSubType == TC_SUBTYPE_DIS_CAL) )
	214	{
	215	status = CCSDS_TM_VALID;
	216	}
	217	else
	218	{
	219	status = ILL_TYPE;
	220	}
	221
	222	return status;
	223	}
	224
	225	int tc_check_length( unsigned char packetSubType, unsigned int length )
	226	{
	227	/** This function checks that the subtype and the length are compliant.
	228	*
	229	* @param packetSubType is the subtype to check.
	230	* @param length is the length to check.
	231	* @return Status code CCSDS_TM_VALID or ILL_TYPE.
	232	*
	233	*/
	234
	235	int status;
	236
	237	status = LFR_SUCCESSFUL;
	238
	239	switch(packetSubType)
	240	{
	241	case TC_SUBTYPE_RESET:
	242	if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
	243	status = WRONG_LEN_PACKET;
	244	}
	245	else {
	246	status = CCSDS_TM_VALID;
	247	}
	248	break;
	249	case TC_SUBTYPE_LOAD_COMM:
	250	if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
	251	status = WRONG_LEN_PACKET;
	252	}
	253	else {
	254	status = CCSDS_TM_VALID;
	255	}
	256	break;
	257	case TC_SUBTYPE_LOAD_NORM:
	258	if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
	259	status = WRONG_LEN_PACKET;
	260	}
	261	else {
	262	status = CCSDS_TM_VALID;
	263	}
	264	break;
	265	case TC_SUBTYPE_LOAD_BURST:
	266	if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
	267	status = WRONG_LEN_PACKET;
	268	}
	269	else {
	270	status = CCSDS_TM_VALID;
	271	}
	272	break;
	273	case TC_SUBTYPE_LOAD_SBM1:
	274	if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
	275	status = WRONG_LEN_PACKET;
	276	}
	277	else {
	278	status = CCSDS_TM_VALID;
	279	}
	280	break;
	281	case TC_SUBTYPE_LOAD_SBM2:
	282	if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
	283	status = WRONG_LEN_PACKET;
	284	}
	285	else {
	286	status = CCSDS_TM_VALID;
	287	}
	288	break;
	289	case TC_SUBTYPE_DUMP:
	290	if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
	291	status = WRONG_LEN_PACKET;
	292	}
	293	else {
	294	status = CCSDS_TM_VALID;
	295	}
	296	break;
	297	case TC_SUBTYPE_ENTER:
	298	if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
	299	status = WRONG_LEN_PACKET;
	300	}
	301	else {
	302	status = CCSDS_TM_VALID;
	303	}
	304	break;
	305	case TC_SUBTYPE_UPDT_INFO:
	306	if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
	307	status = WRONG_LEN_PACKET;
	308	}
	309	else {
	310	status = CCSDS_TM_VALID;
	311	}
	312	break;
	313	case TC_SUBTYPE_EN_CAL:
	314	if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
	315	status = WRONG_LEN_PACKET;
	316	}
	317	else {
	318	status = CCSDS_TM_VALID;
	319	}
	320	break;
	321	case TC_SUBTYPE_DIS_CAL:
	322	if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
	323	status = WRONG_LEN_PACKET;
	324	}
	325	else {
	326	status = CCSDS_TM_VALID;
	327	}
	328	break;
	329	case TC_SUBTYPE_UPDT_TIME:
	330	if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
	331	status = WRONG_LEN_PACKET;
	332	}
	333	else {
	334	status = CCSDS_TM_VALID;
	335	}
	336	break;
	337	default: // if the subtype is not a legal value, return ILL_SUBTYPE
	338	status = ILL_SUBTYPE;
	339	break ;
	340	}
	341
	342	return status;
	343	}
	344
	345	int tc_check_crc( ccsdsTelecommandPacket_t * TCPacket, unsigned int length, unsigned char *computed_CRC )
	346	{
	347	/** This function checks the CRC validity of the corresponding TeleCommand packet.
	348	*
	349	* @param TCPacket points to the TeleCommand packet to check.
	350	* @param length is the length of the TC packet.
	351	* @return Status code CCSDS_TM_VALID or INCOR_CHECKSUM.
	352	*
	353	*/
	354
	355	int status;
	356	unsigned char * CCSDSContent;
	357
	358	CCSDSContent = (unsigned char*) TCPacket->packetID;
	359	GetCRCAsTwoBytes(CCSDSContent, computed_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
	360	if (computed_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
	361	status = INCOR_CHECKSUM;
	362	}
	363	else if (computed_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
	364	status = INCOR_CHECKSUM;
	365	}
	366	else {
	367	status = CCSDS_TM_VALID;
	368	}
	369
	370	return status;
	371	}
	372
	373
	374

FSW-qt/Makefile +9 -4

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.5) on: Thu Oct 17 13:22:13 2013
+            # Generated by qmake (2.01a) (Qt 4.8.5) on: Fri Oct 18 15:44:51 2013
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
             DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=16 -DPRINT_MESSAGES_ON_CONSOLE
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_processing.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c \
             		../src/tc_load_dump_parameters.c \
-            		../src/tm_lfr_tc_exe.c
+            		../src/tm_lfr_tc_exe.c \
+            		../src/tc_acceptance.c
             OBJECTS       = obj/wf_handler.o \
             		obj/tc_handler.o \
             		obj/fsw_processing.o \
             		obj/fsw_misc.o \
             		obj/fsw_init.o \
             		obj/fsw_globals.o \
             		obj/fsw_spacewire.o \
             		obj/tc_load_dump_parameters.o \
-            		obj/tm_lfr_tc_exe.o
+            		obj/tm_lfr_tc_exe.o \
+            		obj/tc_acceptance.o
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
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             		fsw-qt.pro
             QMAKE_TARGET  = fsw
             DESTDIR       = bin/
             TARGET        = bin/fsw
             first: all
             ####### Implicit rules
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             .cpp.o:
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             .c.o:
             	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
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             $(TARGET):  $(OBJECTS)
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             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
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             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
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             /usr/lib64/qt4/mkspecs/common/linux.conf:
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             /usr/lib64/qt4/mkspecs/features/release.prf:
             /usr/lib64/qt4/mkspecs/features/default_post.prf:
             /usr/lib64/qt4/mkspecs/features/shared.prf:
             /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
             /usr/lib64/qt4/mkspecs/features/warn_on.prf:
             /usr/lib64/qt4/mkspecs/features/resources.prf:
             /usr/lib64/qt4/mkspecs/features/uic.prf:
             /usr/lib64/qt4/mkspecs/features/yacc.prf:
             /usr/lib64/qt4/mkspecs/features/lex.prf:
             /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
             qmake:  FORCE
             	@$(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
+            obj/fsw_processing.o: ../src/fsw_processing.c ../src/fsw_processing_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
             obj/fsw_spacewire.o: ../src/fsw_spacewire.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
             obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
             obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
+            obj/tc_acceptance.o: ../src/tc_acceptance.c
+            	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/fsw binary modified 0 0

NO CONTENT: modified file, binary diff hidden

FSW-qt/fsw-qt.pro +5 -2

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

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

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doc/Doxyfile +1 -1

             # Doxyfile 1.8.3.1
             # This file describes the settings to be used by the documentation system
             # doxygen (www.doxygen.org) for a project
             #
             # All text after a hash (#) is considered a comment and will be ignored
             # The format is:
             #       TAG = value [value, ...]
             # For lists items can also be appended using:
             #       TAG += value [value, ...]
             # Values that contain spaces should be placed between quotes (" ")
             #---------------------------------------------------------------------------
             # Project related configuration options
             #---------------------------------------------------------------------------
             # This tag specifies the encoding used for all characters in the config file
             # that follow. The default is UTF-8 which is also the encoding used for all
             # text before the first occurrence of this tag. Doxygen uses libiconv (or the
             # iconv built into libc) for the transcoding. See
             # http://www.gnu.org/software/libiconv for the list of possible encodings.
             DOXYFILE_ENCODING      = UTF-8
             # The PROJECT_NAME tag is a single word (or sequence of words) that should
             # identify the project. Note that if you do not use Doxywizard you need
             # to put quotes around the project name if it contains spaces.
             PROJECT_NAME           = DEV_PLE
             # The PROJECT_NUMBER tag can be used to enter a project or revision number.
             # This could be handy for archiving the generated documentation or
             # if some version control system is used.
             PROJECT_NUMBER         =
             # Using the PROJECT_BRIEF tag one can provide an optional one line description
             # for a project that appears at the top of each page and should give viewer
             # a quick idea about the purpose of the project. Keep the description short.
             PROJECT_BRIEF          =
             # With the PROJECT_LOGO tag one can specify an logo or icon that is
             # included in the documentation. The maximum height of the logo should not
             # exceed 55 pixels and the maximum width should not exceed 200 pixels.
             # Doxygen will copy the logo to the output directory.
             PROJECT_LOGO           =
             # The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute)
             # base path where the generated documentation will be put.
             # If a relative path is entered, it will be relative to the location
             # where doxygen was started. If left blank the current directory will be used.
             OUTPUT_DIRECTORY       = /opt/DEV_PLE/doc
             # If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
             # 4096 sub-directories (in 2 levels) under the output directory of each output
             # format and will distribute the generated files over these directories.
             # Enabling this option can be useful when feeding doxygen a huge amount of
             # source files, where putting all generated files in the same directory would
             # otherwise cause performance problems for the file system.
             CREATE_SUBDIRS         = NO
             # The OUTPUT_LANGUAGE tag is used to specify the language in which all
             # documentation generated by doxygen is written. Doxygen will use this
             # information to generate all constant output in the proper language.
             # The default language is English, other supported languages are:
             # Afrikaans, Arabic, Brazilian, Catalan, Chinese, Chinese-Traditional,
             # Croatian, Czech, Danish, Dutch, Esperanto, Farsi, Finnish, French, German,
             # Greek, Hungarian, Italian, Japanese, Japanese-en (Japanese with English
             # messages), Korean, Korean-en, Lithuanian, Norwegian, Macedonian, Persian,
             # Polish, Portuguese, Romanian, Russian, Serbian, Serbian-Cyrillic, Slovak,
             # Slovene, Spanish, Swedish, Ukrainian, and Vietnamese.
             OUTPUT_LANGUAGE        = English
             # If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
             # include brief member descriptions after the members that are listed in
             # the file and class documentation (similar to JavaDoc).
             # Set to NO to disable this.
             BRIEF_MEMBER_DESC      = YES
             # If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
             # the brief description of a member or function before the detailed description.
             # Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
             # brief descriptions will be completely suppressed.
             REPEAT_BRIEF           = YES
             # This tag implements a quasi-intelligent brief description abbreviator
             # that is used to form the text in various listings. Each string
             # in this list, if found as the leading text of the brief description, will be
             # stripped from the text and the result after processing the whole list, is
             # used as the annotated text. Otherwise, the brief description is used as-is.
             # If left blank, the following values are used ("$name" is automatically
             # replaced with the name of the entity): "The $name class" "The $name widget"
             # "The $name file" "is" "provides" "specifies" "contains"
             # "represents" "a" "an" "the"
             ABBREVIATE_BRIEF       = "The $name class" \
                                      "The $name widget" \
                                      "The $name file" \
                                      is \
                                      provides \
                                      specifies \
                                      contains \
                                      represents \
                                      a \
                                      an \
                                      the
             # If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
             # Doxygen will generate a detailed section even if there is only a brief
             # description.
             ALWAYS_DETAILED_SEC    = NO
             # If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
             # inherited members of a class in the documentation of that class as if those
             # members were ordinary class members. Constructors, destructors and assignment
             # operators of the base classes will not be shown.
             INLINE_INHERITED_MEMB  = NO
             # If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
             # path before files name in the file list and in the header files. If set
             # to NO the shortest path that makes the file name unique will be used.
             FULL_PATH_NAMES        = YES
             # If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
             # can be used to strip a user-defined part of the path. Stripping is
             # only done if one of the specified strings matches the left-hand part of
             # the path. The tag can be used to show relative paths in the file list.
             # If left blank the directory from which doxygen is run is used as the
             # path to strip. Note that you specify absolute paths here, but also
             # relative paths, which will be relative from the directory where doxygen is
             # started.
             STRIP_FROM_PATH        =
             # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
             # the path mentioned in the documentation of a class, which tells
             # the reader which header file to include in order to use a class.
             # If left blank only the name of the header file containing the class
             # definition is used. Otherwise one should specify the include paths that
             # are normally passed to the compiler using the -I flag.
             STRIP_FROM_INC_PATH    =
             # If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
             # (but less readable) file names. This can be useful if your file system
             # doesn't support long names like on DOS, Mac, or CD-ROM.
             SHORT_NAMES            = NO
             # If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
             # will interpret the first line (until the first dot) of a JavaDoc-style
             # comment as the brief description. If set to NO, the JavaDoc
             # comments will behave just like regular Qt-style comments
             # (thus requiring an explicit @brief command for a brief description.)
             JAVADOC_AUTOBRIEF      = YES
             # If the QT_AUTOBRIEF tag is set to YES then Doxygen will
             # interpret the first line (until the first dot) of a Qt-style
             # comment as the brief description. If set to NO, the comments
             # will behave just like regular Qt-style comments (thus requiring
             # an explicit \brief command for a brief description.)
             QT_AUTOBRIEF           = NO
             # The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
             # treat a multi-line C++ special comment block (i.e. a block of //! or ///
             # comments) as a brief description. This used to be the default behaviour.
             # The new default is to treat a multi-line C++ comment block as a detailed
             # description. Set this tag to YES if you prefer the old behaviour instead.
             MULTILINE_CPP_IS_BRIEF = NO
             # If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
             # member inherits the documentation from any documented member that it
             # re-implements.
             INHERIT_DOCS           = YES
             # If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
             # a new page for each member. If set to NO, the documentation of a member will
             # be part of the file/class/namespace that contains it.
             SEPARATE_MEMBER_PAGES  = NO
             # The TAB_SIZE tag can be used to set the number of spaces in a tab.
             # Doxygen uses this value to replace tabs by spaces in code fragments.
             TAB_SIZE               = 4
             # This tag can be used to specify a number of aliases that acts
             # as commands in the documentation. An alias has the form "name=value".
             # For example adding "sideeffect=\par Side Effects:\n" will allow you to
             # put the command \sideeffect (or @sideeffect) in the documentation, which
             # will result in a user-defined paragraph with heading "Side Effects:".
             # You can put \n's in the value part of an alias to insert newlines.
             ALIASES                =
             # This tag can be used to specify a number of word-keyword mappings (TCL only).
             # A mapping has the form "name=value". For example adding
             # "class=itcl::class" will allow you to use the command class in the
             # itcl::class meaning.
             TCL_SUBST              =
             # Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
             # sources only. Doxygen will then generate output that is more tailored for C.
             # For instance, some of the names that are used will be different. The list
             # of all members will be omitted, etc.
             OPTIMIZE_OUTPUT_FOR_C  = YES
             # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java
             # sources only. Doxygen will then generate output that is more tailored for
             # Java. For instance, namespaces will be presented as packages, qualified
             # scopes will look different, etc.
             OPTIMIZE_OUTPUT_JAVA   = NO
             # Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran
             # sources only. Doxygen will then generate output that is more tailored for
             # Fortran.
             OPTIMIZE_FOR_FORTRAN   = NO
             # Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL
             # sources. Doxygen will then generate output that is tailored for
             # VHDL.
             OPTIMIZE_OUTPUT_VHDL   = NO
             # Doxygen selects the parser to use depending on the extension of the files it
             # parses. With this tag you can assign which parser to use for a given
             # extension. Doxygen has a built-in mapping, but you can override or extend it
             # using this tag. The format is ext=language, where ext is a file extension,
             # and language is one of the parsers supported by doxygen: IDL, Java,
             # Javascript, CSharp, C, C++, D, PHP, Objective-C, Python, Fortran, VHDL, C,
             # C++. For instance to make doxygen treat .inc files as Fortran files (default
             # is PHP), and .f files as C (default is Fortran), use: inc=Fortran f=C. Note
             # that for custom extensions you also need to set FILE_PATTERNS otherwise the
             # files are not read by doxygen.
             EXTENSION_MAPPING      =
             # If MARKDOWN_SUPPORT is enabled (the default) then doxygen pre-processes all
             # comments according to the Markdown format, which allows for more readable
             # documentation. See http://daringfireball.net/projects/markdown/ for details.
             # The output of markdown processing is further processed by doxygen, so you
             # can mix doxygen, HTML, and XML commands with Markdown formatting.
             # Disable only in case of backward compatibilities issues.
             MARKDOWN_SUPPORT       = YES
             # When enabled doxygen tries to link words that correspond to documented classes,
             # or namespaces to their corresponding documentation. Such a link can be
             # prevented in individual cases by by putting a % sign in front of the word or
             # globally by setting AUTOLINK_SUPPORT to NO.
             AUTOLINK_SUPPORT       = YES
             # If you use STL classes (i.e. std::string, std::vector, etc.) but do not want
             # to include (a tag file for) the STL sources as input, then you should
             # set this tag to YES in order to let doxygen match functions declarations and
             # definitions whose arguments contain STL classes (e.g. func(std::string); v.s.
             # func(std::string) {}). This also makes the inheritance and collaboration
             # diagrams that involve STL classes more complete and accurate.
             BUILTIN_STL_SUPPORT    = NO
             # If you use Microsoft's C++/CLI language, you should set this option to YES to
             # enable parsing support.
             CPP_CLI_SUPPORT        = NO
             # Set the SIP_SUPPORT tag to YES if your project consists of sip sources only.
             # Doxygen will parse them like normal C++ but will assume all classes use public
             # instead of private inheritance when no explicit protection keyword is present.
             SIP_SUPPORT            = NO
             # For Microsoft's IDL there are propget and propput attributes to indicate
             # getter and setter methods for a property. Setting this option to YES (the
             # default) will make doxygen replace the get and set methods by a property in
             # the documentation. This will only work if the methods are indeed getting or
             # setting a simple type. If this is not the case, or you want to show the
             # methods anyway, you should set this option to NO.
             IDL_PROPERTY_SUPPORT   = YES
             # If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
             # tag is set to YES, then doxygen will reuse the documentation of the first
             # member in the group (if any) for the other members of the group. By default
             # all members of a group must be documented explicitly.
             DISTRIBUTE_GROUP_DOC   = NO
             # Set the SUBGROUPING tag to YES (the default) to allow class member groups of
             # the same type (for instance a group of public functions) to be put as a
             # subgroup of that type (e.g. under the Public Functions section). Set it to
             # NO to prevent subgrouping. Alternatively, this can be done per class using
             # the \nosubgrouping command.
             SUBGROUPING            = YES
             # When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and
             # unions are shown inside the group in which they are included (e.g. using
             # @ingroup) instead of on a separate page (for HTML and Man pages) or
             # section (for LaTeX and RTF).
             INLINE_GROUPED_CLASSES = NO
             # When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and
             # unions with only public data fields will be shown inline in the documentation
             # of the scope in which they are defined (i.e. file, namespace, or group
             # documentation), provided this scope is documented. If set to NO (the default),
             # structs, classes, and unions are shown on a separate page (for HTML and Man
             # pages) or section (for LaTeX and RTF).
             INLINE_SIMPLE_STRUCTS  = NO
             # When TYPEDEF_HIDES_STRUCT is enabled, a typedef of a struct, union, or enum
             # is documented as struct, union, or enum with the name of the typedef. So
             # typedef struct TypeS {} TypeT, will appear in the documentation as a struct
             # with name TypeT. When disabled the typedef will appear as a member of a file,
             # namespace, or class. And the struct will be named TypeS. This can typically
             # be useful for C code in case the coding convention dictates that all compound
             # types are typedef'ed and only the typedef is referenced, never the tag name.
             TYPEDEF_HIDES_STRUCT   = NO
             # The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
             # determine which symbols to keep in memory and which to flush to disk.
             # When the cache is full, less often used symbols will be written to disk.
             # For small to medium size projects (<1000 input files) the default value is
             # probably good enough. For larger projects a too small cache size can cause
             # doxygen to be busy swapping symbols to and from disk most of the time
             # causing a significant performance penalty.
             # If the system has enough physical memory increasing the cache will improve the
             # performance by keeping more symbols in memory. Note that the value works on
             # a logarithmic scale so increasing the size by one will roughly double the
             # memory usage. The cache size is given by this formula:
             # 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
             # corresponding to a cache size of 2^16 = 65536 symbols.
             SYMBOL_CACHE_SIZE      = 0
             # Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
             # set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
             # their name and scope. Since this can be an expensive process and often the
             # same symbol appear multiple times in the code, doxygen keeps a cache of
             # pre-resolved symbols. If the cache is too small doxygen will become slower.
             # If the cache is too large, memory is wasted. The cache size is given by this
             # formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range is 0..9, the default is 0,
             # corresponding to a cache size of 2^16 = 65536 symbols.
             LOOKUP_CACHE_SIZE      = 0
             #---------------------------------------------------------------------------
             # Build related configuration options
             #---------------------------------------------------------------------------
             # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
             # documentation are documented, even if no documentation was available.
             # Private class members and static file members will be hidden unless
             # the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
             EXTRACT_ALL            = YES
             # If the EXTRACT_PRIVATE tag is set to YES all private members of a class
             # will be included in the documentation.
             EXTRACT_PRIVATE        = NO
             # If the EXTRACT_PACKAGE tag is set to YES all members with package or internal
             # scope will be included in the documentation.
             EXTRACT_PACKAGE        = NO
             # If the EXTRACT_STATIC tag is set to YES all static members of a file
             # will be included in the documentation.
             EXTRACT_STATIC         = NO
             # If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs)
             # defined locally in source files will be included in the documentation.
             # If set to NO only classes defined in header files are included.
             EXTRACT_LOCAL_CLASSES  = YES
             # This flag is only useful for Objective-C code. When set to YES local
             # methods, which are defined in the implementation section but not in
             # the interface are included in the documentation.
             # If set to NO (the default) only methods in the interface are included.
             EXTRACT_LOCAL_METHODS  = NO
             # If this flag is set to YES, the members of anonymous namespaces will be
             # extracted and appear in the documentation as a namespace called
             # 'anonymous_namespace{file}', where file will be replaced with the base
             # name of the file that contains the anonymous namespace. By default
             # anonymous namespaces are hidden.
             EXTRACT_ANON_NSPACES   = NO
             # If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
             # undocumented members of documented classes, files or namespaces.
             # If set to NO (the default) these members will be included in the
             # various overviews, but no documentation section is generated.
             # This option has no effect if EXTRACT_ALL is enabled.
             HIDE_UNDOC_MEMBERS     = NO
             # If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
             # undocumented classes that are normally visible in the class hierarchy.
             # If set to NO (the default) these classes will be included in the various
             # overviews. This option has no effect if EXTRACT_ALL is enabled.
             HIDE_UNDOC_CLASSES     = NO
             # If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
             # friend (class|struct|union) declarations.
             # If set to NO (the default) these declarations will be included in the
             # documentation.
             HIDE_FRIEND_COMPOUNDS  = NO
             # If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
             # documentation blocks found inside the body of a function.
             # If set to NO (the default) these blocks will be appended to the
             # function's detailed documentation block.
             HIDE_IN_BODY_DOCS      = NO
             # The INTERNAL_DOCS tag determines if documentation
             # that is typed after a \internal command is included. If the tag is set
             # to NO (the default) then the documentation will be excluded.
             # Set it to YES to include the internal documentation.
             INTERNAL_DOCS          = NO
             # If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
             # file names in lower-case letters. If set to YES upper-case letters are also
             # allowed. This is useful if you have classes or files whose names only differ
             # in case and if your file system supports case sensitive file names. Windows
             # and Mac users are advised to set this option to NO.
             CASE_SENSE_NAMES       = NO
             # If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
             # will show members with their full class and namespace scopes in the
             # documentation. If set to YES the scope will be hidden.
             HIDE_SCOPE_NAMES       = YES
             # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
             # will put a list of the files that are included by a file in the documentation
             # of that file.
             SHOW_INCLUDE_FILES     = YES
             # If the FORCE_LOCAL_INCLUDES tag is set to YES then Doxygen
             # will list include files with double quotes in the documentation
             # rather than with sharp brackets.
             FORCE_LOCAL_INCLUDES   = NO
             # If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
             # is inserted in the documentation for inline members.
             INLINE_INFO            = YES
             # If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen
             # will sort the (detailed) documentation of file and class members
             # alphabetically by member name. If set to NO the members will appear in
             # declaration order.
             SORT_MEMBER_DOCS       = YES
             # If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
             # brief documentation of file, namespace and class members alphabetically
             # by member name. If set to NO (the default) the members will appear in
             # declaration order.
             SORT_BRIEF_DOCS        = NO
             # If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen
             # will sort the (brief and detailed) documentation of class members so that
             # constructors and destructors are listed first. If set to NO (the default)
             # the constructors will appear in the respective orders defined by
             # SORT_MEMBER_DOCS and SORT_BRIEF_DOCS.
             # This tag will be ignored for brief docs if SORT_BRIEF_DOCS is set to NO
             # and ignored for detailed docs if SORT_MEMBER_DOCS is set to NO.
             SORT_MEMBERS_CTORS_1ST = NO
             # If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the
             # hierarchy of group names into alphabetical order. If set to NO (the default)
             # the group names will appear in their defined order.
             SORT_GROUP_NAMES       = NO
             # If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
             # sorted by fully-qualified names, including namespaces. If set to
             # NO (the default), the class list will be sorted only by class name,
             # not including the namespace part.
             # Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
             # Note: This option applies only to the class list, not to the
             # alphabetical list.
             SORT_BY_SCOPE_NAME     = NO
             # If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to
             # do proper type resolution of all parameters of a function it will reject a
             # match between the prototype and the implementation of a member function even
             # if there is only one candidate or it is obvious which candidate to choose
             # by doing a simple string match. By disabling STRICT_PROTO_MATCHING doxygen
             # will still accept a match between prototype and implementation in such cases.
             STRICT_PROTO_MATCHING  = NO
             # The GENERATE_TODOLIST tag can be used to enable (YES) or
             # disable (NO) the todo list. This list is created by putting \todo
             # commands in the documentation.
             GENERATE_TODOLIST      = YES
             # The GENERATE_TESTLIST tag can be used to enable (YES) or
             # disable (NO) the test list. This list is created by putting \test
             # commands in the documentation.
             GENERATE_TESTLIST      = YES
             # The GENERATE_BUGLIST tag can be used to enable (YES) or
             # disable (NO) the bug list. This list is created by putting \bug
             # commands in the documentation.
             GENERATE_BUGLIST       = YES
             # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
             # disable (NO) the deprecated list. This list is created by putting
             # \deprecated commands in the documentation.
             GENERATE_DEPRECATEDLIST= YES
             # The ENABLED_SECTIONS tag can be used to enable conditional
             # documentation sections, marked by \if section-label ... \endif
             # and \cond section-label ... \endcond blocks.
             ENABLED_SECTIONS       =
             # The MAX_INITIALIZER_LINES tag determines the maximum number of lines
             # the initial value of a variable or macro consists of for it to appear in
             # the documentation. If the initializer consists of more lines than specified
             # here it will be hidden. Use a value of 0 to hide initializers completely.
             # The appearance of the initializer of individual variables and macros in the
             # documentation can be controlled using \showinitializer or \hideinitializer
             # command in the documentation regardless of this setting.
             MAX_INITIALIZER_LINES  = 30
             # Set the SHOW_USED_FILES tag to NO to disable the list of files generated
             # at the bottom of the documentation of classes and structs. If set to YES the
             # list will mention the files that were used to generate the documentation.
             SHOW_USED_FILES        = YES
             # Set the SHOW_FILES tag to NO to disable the generation of the Files page.
             # This will remove the Files entry from the Quick Index and from the
             # Folder Tree View (if specified). The default is YES.
             SHOW_FILES             = YES
             # Set the SHOW_NAMESPACES tag to NO to disable the generation of the
             # Namespaces page.  This will remove the Namespaces entry from the Quick Index
             # and from the Folder Tree View (if specified). The default is YES.
             SHOW_NAMESPACES        = YES
             # The FILE_VERSION_FILTER tag can be used to specify a program or script that
             # doxygen should invoke to get the current version for each file (typically from
             # the version control system). Doxygen will invoke the program by executing (via
             # popen()) the command <command> <input-file>, where <command> is the value of
             # the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
             # provided by doxygen. Whatever the program writes to standard output
             # is used as the file version. See the manual for examples.
             FILE_VERSION_FILTER    =
             # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
             # by doxygen. The layout file controls the global structure of the generated
             # output files in an output format independent way. To create the layout file
             # that represents doxygen's defaults, run doxygen with the -l option.
             # You can optionally specify a file name after the option, if omitted
             # DoxygenLayout.xml will be used as the name of the layout file.
             LAYOUT_FILE            =
             # The CITE_BIB_FILES tag can be used to specify one or more bib files
             # containing the references data. This must be a list of .bib files. The
             # .bib extension is automatically appended if omitted. Using this command
             # requires the bibtex tool to be installed. See also
             # http://en.wikipedia.org/wiki/BibTeX for more info. For LaTeX the style
             # of the bibliography can be controlled using LATEX_BIB_STYLE. To use this
             # feature you need bibtex and perl available in the search path. Do not use
             # file names with spaces, bibtex cannot handle them.
             CITE_BIB_FILES         =
             #---------------------------------------------------------------------------
             # configuration options related to warning and progress messages
             #---------------------------------------------------------------------------
             # The QUIET tag can be used to turn on/off the messages that are generated
             # by doxygen. Possible values are YES and NO. If left blank NO is used.
             QUIET                  = NO
             # The WARNINGS tag can be used to turn on/off the warning messages that are
             # generated by doxygen. Possible values are YES and NO. If left blank
             # NO is used.
             WARNINGS               = YES
             # If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings
             # for undocumented members. If EXTRACT_ALL is set to YES then this flag will
             # automatically be disabled.
             WARN_IF_UNDOCUMENTED   = YES
             # If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
             # potential errors in the documentation, such as not documenting some
             # parameters in a documented function, or documenting parameters that
             # don't exist or using markup commands wrongly.
             WARN_IF_DOC_ERROR      = YES
             # The WARN_NO_PARAMDOC option can be enabled to get warnings for
             # functions that are documented, but have no documentation for their parameters
             # or return value. If set to NO (the default) doxygen will only warn about
             # wrong or incomplete parameter documentation, but not about the absence of
             # documentation.
             WARN_NO_PARAMDOC       = NO
             # The WARN_FORMAT tag determines the format of the warning messages that
             # doxygen can produce. The string should contain the $file, $line, and $text
             # tags, which will be replaced by the file and line number from which the
             # warning originated and the warning text. Optionally the format may contain
             # $version, which will be replaced by the version of the file (if it could
             # be obtained via FILE_VERSION_FILTER)
             WARN_FORMAT            = "$file:$line: $text"
             # The WARN_LOGFILE tag can be used to specify a file to which warning
             # and error messages should be written. If left blank the output is written
             # to stderr.
             WARN_LOGFILE           =
             #---------------------------------------------------------------------------
             # configuration options related to the input files
             #---------------------------------------------------------------------------
             # The INPUT tag can be used to specify the files and/or directories that contain
             # documented source files. You may enter file names like "myfile.cpp" or
             # directories like "/usr/src/myproject". Separate the files or directories
             # with spaces.
             INPUT                  = ../
             # This tag can be used to specify the character encoding of the source files
             # that doxygen parses. Internally doxygen uses the UTF-8 encoding, which is
             # also the default input encoding. Doxygen uses libiconv (or the iconv built
             # into libc) for the transcoding. See http://www.gnu.org/software/libiconv for
             # the list of possible encodings.
             INPUT_ENCODING         = UTF-8
             # If the value of the INPUT tag contains directories, you can use the
             # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
             # and *.h) to filter out the source-files in the directories. If left
             # blank the following patterns are tested:
             # *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh
             # *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
             # *.f90 *.f *.for *.vhd *.vhdl
             FILE_PATTERNS          = *.c \
                                      *.cc \
                                      *.cxx \
                                      *.cpp \
                                      *.c++ \
                                      *.d \
                                      *.java \
                                      *.ii \
                                      *.ixx \
                                      *.ipp \
                                      *.i++ \
                                      *.inl \
                                      *.h \
                                      *.hh \
                                      *.hxx \
                                      *.hpp \
                                      *.h++ \
                                      *.idl \
                                      *.odl \
                                      *.cs \
                                      *.php \
                                      *.php3 \
                                      *.inc \
                                      *.m \
                                      *.markdown \
                                      *.md \
                                      *.mm \
                                      *.dox \
                                      *.py \
                                      *.f90 \
                                      *.f \
                                      *.for \
                                      *.vhd \
                                      *.vhdl
             # The RECURSIVE tag can be used to turn specify whether or not subdirectories
             # should be searched for input files as well. Possible values are YES and NO.
             # If left blank NO is used.
             RECURSIVE              = YES
             # The EXCLUDE tag can be used to specify files and/or directories that should be
             # excluded from the INPUT source files. This way you can easily exclude a
             # subdirectory from a directory tree whose root is specified with the INPUT tag.
             # Note that relative paths are relative to the directory from which doxygen is
             # run.
             EXCLUDE                =
             # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
             # directories that are symbolic links (a Unix file system feature) are excluded
             # from the input.
             EXCLUDE_SYMLINKS       = NO
             # If the value of the INPUT tag contains directories, you can use the
             # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
             # certain files from those directories. Note that the wildcards are matched
             # against the file with absolute path, so to exclude all test directories
             # for example use the pattern */test/*
             EXCLUDE_PATTERNS       =
             # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
             # (namespaces, classes, functions, etc.) that should be excluded from the
             # output. The symbol name can be a fully qualified name, a word, or if the
             # wildcard * is used, a substring. Examples: ANamespace, AClass,
             # AClass::ANamespace, ANamespace::*Test
             EXCLUDE_SYMBOLS        =
             # The EXAMPLE_PATH tag can be used to specify one or more files or
             # directories that contain example code fragments that are included (see
             # the \include command).
             EXAMPLE_PATH           =
             # If the value of the EXAMPLE_PATH tag contains directories, you can use the
             # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
             # and *.h) to filter out the source-files in the directories. If left
             # blank all files are included.
             EXAMPLE_PATTERNS       = *
             # If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
             # searched for input files to be used with the \include or \dontinclude
             # commands irrespective of the value of the RECURSIVE tag.
             # Possible values are YES and NO. If left blank NO is used.
             EXAMPLE_RECURSIVE      = NO
             # The IMAGE_PATH tag can be used to specify one or more files or
             # directories that contain image that are included in the documentation (see
             # the \image command).
             IMAGE_PATH             =
             # The INPUT_FILTER tag can be used to specify a program that doxygen should
             # invoke to filter for each input file. Doxygen will invoke the filter program
             # by executing (via popen()) the command <filter> <input-file>, where <filter>
             # is the value of the INPUT_FILTER tag, and <input-file> is the name of an
             # input file. Doxygen will then use the output that the filter program writes
             # to standard output.  If FILTER_PATTERNS is specified, this tag will be
             # ignored.
             INPUT_FILTER           =
             # The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
             # basis.  Doxygen will compare the file name with each pattern and apply the
             # filter if there is a match.  The filters are a list of the form:
             # pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
             # info on how filters are used. If FILTER_PATTERNS is empty or if
             # non of the patterns match the file name, INPUT_FILTER is applied.
             FILTER_PATTERNS        =
             # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
             # INPUT_FILTER) will be used to filter the input files when producing source
             # files to browse (i.e. when SOURCE_BROWSER is set to YES).
             FILTER_SOURCE_FILES    = NO
             # The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
             # pattern. A pattern will override the setting for FILTER_PATTERN (if any)
             # and it is also possible to disable source filtering for a specific pattern
             # using *.ext= (so without naming a filter). This option only has effect when
             # FILTER_SOURCE_FILES is enabled.
             FILTER_SOURCE_PATTERNS =
             # If the USE_MD_FILE_AS_MAINPAGE tag refers to the name of a markdown file that
             # is part of the input, its contents will be placed on the main page (index.html).
             # This can be useful if you have a project on for instance GitHub and want reuse
             # the introduction page also for the doxygen output.
             USE_MDFILE_AS_MAINPAGE =
             #---------------------------------------------------------------------------
             # configuration options related to source browsing
             #---------------------------------------------------------------------------
             # If the SOURCE_BROWSER tag is set to YES then a list of source files will
             # be generated. Documented entities will be cross-referenced with these sources.
             # Note: To get rid of all source code in the generated output, make sure also
             # VERBATIM_HEADERS is set to NO.
             SOURCE_BROWSER         = YES
             # Setting the INLINE_SOURCES tag to YES will include the body
             # of functions and classes directly in the documentation.
             INLINE_SOURCES         = NO
             # Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
             # doxygen to hide any special comment blocks from generated source code
             # fragments. Normal C, C++ and Fortran comments will always remain visible.
             STRIP_CODE_COMMENTS    = YES
             # If the REFERENCED_BY_RELATION tag is set to YES
             # then for each documented function all documented
             # functions referencing it will be listed.
             REFERENCED_BY_RELATION = NO
             # If the REFERENCES_RELATION tag is set to YES
             # then for each documented function all documented entities
             # called/used by that function will be listed.
             REFERENCES_RELATION    = NO
             # If the REFERENCES_LINK_SOURCE tag is set to YES (the default)
             # and SOURCE_BROWSER tag is set to YES, then the hyperlinks from
             # functions in REFERENCES_RELATION and REFERENCED_BY_RELATION lists will
             # link to the source code.  Otherwise they will link to the documentation.
             REFERENCES_LINK_SOURCE = YES
             # If the USE_HTAGS tag is set to YES then the references to source code
             # will point to the HTML generated by the htags(1) tool instead of doxygen
             # built-in source browser. The htags tool is part of GNU's global source
             # tagging system (see http://www.gnu.org/software/global/global.html). You
             # will need version 4.8.6 or higher.
             USE_HTAGS              = NO
             # If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
             # will generate a verbatim copy of the header file for each class for
             # which an include is specified. Set to NO to disable this.
             VERBATIM_HEADERS       = YES
             #---------------------------------------------------------------------------
             # configuration options related to the alphabetical class index
             #---------------------------------------------------------------------------
             # If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index
             # of all compounds will be generated. Enable this if the project
             # contains a lot of classes, structs, unions or interfaces.
             ALPHABETICAL_INDEX     = YES
             # If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then
             # the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns
             # in which this list will be split (can be a number in the range [1..20])
             COLS_IN_ALPHA_INDEX    = 5
             # In case all classes in a project start with a common prefix, all
             # classes will be put under the same header in the alphabetical index.
             # The IGNORE_PREFIX tag can be used to specify one or more prefixes that
             # should be ignored while generating the index headers.
             IGNORE_PREFIX          =
             #---------------------------------------------------------------------------
             # configuration options related to the HTML output
             #---------------------------------------------------------------------------
             # If the GENERATE_HTML tag is set to YES (the default) Doxygen will
             # generate HTML output.
             GENERATE_HTML          = YES
             # The HTML_OUTPUT tag is used to specify where the HTML docs will be put.
             # If a relative path is entered the value of OUTPUT_DIRECTORY will be
             # put in front of it. If left blank `html' will be used as the default path.
             HTML_OUTPUT            = html
             # The HTML_FILE_EXTENSION tag can be used to specify the file extension for
             # each generated HTML page (for example: .htm,.php,.asp). If it is left blank
             # doxygen will generate files with .html extension.
             HTML_FILE_EXTENSION    = .html
             # The HTML_HEADER tag can be used to specify a personal HTML header for
             # each generated HTML page. If it is left blank doxygen will generate a
             # standard header. Note that when using a custom header you are responsible
             # for the proper inclusion of any scripts and style sheets that doxygen
             # needs, which is dependent on the configuration options used.
             # It is advised to generate a default header using "doxygen -w html
             # header.html footer.html stylesheet.css YourConfigFile" and then modify
             # that header. Note that the header is subject to change so you typically
             # have to redo this when upgrading to a newer version of doxygen or when
             # changing the value of configuration settings such as GENERATE_TREEVIEW!
             HTML_HEADER            =
             # The HTML_FOOTER tag can be used to specify a personal HTML footer for
             # each generated HTML page. If it is left blank doxygen will generate a
             # standard footer.
             HTML_FOOTER            =
             # The HTML_STYLESHEET tag can be used to specify a user-defined cascading
             # style sheet that is used by each HTML page. It can be used to
             # fine-tune the look of the HTML output. If left blank doxygen will
             # generate a default style sheet. Note that it is recommended to use
             # HTML_EXTRA_STYLESHEET instead of this one, as it is more robust and this
             # tag will in the future become obsolete.
             HTML_STYLESHEET        =
             # The HTML_EXTRA_STYLESHEET tag can be used to specify an additional
             # user-defined cascading style sheet that is included after the standard
             # style sheets created by doxygen. Using this option one can overrule
             # certain style aspects. This is preferred over using HTML_STYLESHEET
             # since it does not replace the standard style sheet and is therefor more
             # robust against future updates. Doxygen will copy the style sheet file to
             # the output directory.
             HTML_EXTRA_STYLESHEET  =
             # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
             # other source files which should be copied to the HTML output directory. Note
             # that these files will be copied to the base HTML output directory. Use the
             # $relpath$ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
             # files. In the HTML_STYLESHEET file, use the file name only. Also note that
             # the files will be copied as-is; there are no commands or markers available.
             HTML_EXTRA_FILES       =
             # The HTML_COLORSTYLE_HUE tag controls the color of the HTML output.
             # Doxygen will adjust the colors in the style sheet and background images
             # according to this color. Hue is specified as an angle on a colorwheel,
             # see http://en.wikipedia.org/wiki/Hue for more information.
             # For instance the value 0 represents red, 60 is yellow, 120 is green,
             # 180 is cyan, 240 is blue, 300 purple, and 360 is red again.
             # The allowed range is 0 to 359.
             HTML_COLORSTYLE_HUE    = 220
             # The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of
             # the colors in the HTML output. For a value of 0 the output will use
             # grayscales only. A value of 255 will produce the most vivid colors.
             HTML_COLORSTYLE_SAT    = 100
             # The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to
             # the luminance component of the colors in the HTML output. Values below
             # 100 gradually make the output lighter, whereas values above 100 make
             # the output darker. The value divided by 100 is the actual gamma applied,
             # so 80 represents a gamma of 0.8, The value 220 represents a gamma of 2.2,
             # and 100 does not change the gamma.
             HTML_COLORSTYLE_GAMMA  = 80
             # If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
             # page will contain the date and time when the page was generated. Setting
             # this to NO can help when comparing the output of multiple runs.
             HTML_TIMESTAMP         = YES
             # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
             # documentation will contain sections that can be hidden and shown after the
             # page has loaded.
             HTML_DYNAMIC_SECTIONS  = NO
             # With HTML_INDEX_NUM_ENTRIES one can control the preferred number of
             # entries shown in the various tree structured indices initially; the user
             # can expand and collapse entries dynamically later on. Doxygen will expand
             # the tree to such a level that at most the specified number of entries are
             # visible (unless a fully collapsed tree already exceeds this amount).
             # So setting the number of entries 1 will produce a full collapsed tree by
             # default. 0 is a special value representing an infinite number of entries
             # and will result in a full expanded tree by default.
             HTML_INDEX_NUM_ENTRIES = 100
             # If the GENERATE_DOCSET tag is set to YES, additional index files
             # will be generated that can be used as input for Apple's Xcode 3
             # integrated development environment, introduced with OSX 10.5 (Leopard).
             # To create a documentation set, doxygen will generate a Makefile in the
             # HTML output directory. Running make will produce the docset in that
             # directory and running "make install" will install the docset in
             # ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find
             # it at startup.
             # See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
             # for more information.
             GENERATE_DOCSET        = NO
             # When GENERATE_DOCSET tag is set to YES, this tag determines the name of the
             # feed. A documentation feed provides an umbrella under which multiple
             # documentation sets from a single provider (such as a company or product suite)
             # can be grouped.
             DOCSET_FEEDNAME        = "Doxygen generated docs"
             # When GENERATE_DOCSET tag is set to YES, this tag specifies a string that
             # should uniquely identify the documentation set bundle. This should be a
             # reverse domain-name style string, e.g. com.mycompany.MyDocSet. Doxygen
             # will append .docset to the name.
             DOCSET_BUNDLE_ID       = org.doxygen.Project
             # When GENERATE_PUBLISHER_ID tag specifies a string that should uniquely
             # identify the documentation publisher. This should be a reverse domain-name
             # style string, e.g. com.mycompany.MyDocSet.documentation.
             DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
             # The GENERATE_PUBLISHER_NAME tag identifies the documentation publisher.
             DOCSET_PUBLISHER_NAME  = Publisher
             # If the GENERATE_HTMLHELP tag is set to YES, additional index files
             # will be generated that can be used as input for tools like the
             # Microsoft HTML help workshop to generate a compiled HTML help file (.chm)
             # of the generated HTML documentation.
             GENERATE_HTMLHELP      = NO
             # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
             # be used to specify the file name of the resulting .chm file. You
             # can add a path in front of the file if the result should not be
             # written to the html output directory.
             CHM_FILE               =
             # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
             # be used to specify the location (absolute path including file name) of
             # the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
             # the HTML help compiler on the generated index.hhp.
             HHC_LOCATION           =
             # If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag
             # controls if a separate .chi index file is generated (YES) or that
             # it should be included in the master .chm file (NO).
             GENERATE_CHI           = NO
             # If the GENERATE_HTMLHELP tag is set to YES, the CHM_INDEX_ENCODING
             # is used to encode HtmlHelp index (hhk), content (hhc) and project file
             # content.
             CHM_INDEX_ENCODING     =
             # If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag
             # controls whether a binary table of contents is generated (YES) or a
             # normal table of contents (NO) in the .chm file.
             BINARY_TOC             = NO
             # The TOC_EXPAND flag can be set to YES to add extra items for group members
             # to the contents of the HTML help documentation and to the tree view.
             TOC_EXPAND             = NO
             # If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
             # QHP_VIRTUAL_FOLDER are set, an additional index file will be generated
             # that can be used as input for Qt's qhelpgenerator to generate a
             # Qt Compressed Help (.qch) of the generated HTML documentation.
             GENERATE_QHP           = NO
             # If the QHG_LOCATION tag is specified, the QCH_FILE tag can
             # be used to specify the file name of the resulting .qch file.
             # The path specified is relative to the HTML output folder.
             QCH_FILE               =
             # The QHP_NAMESPACE tag specifies the namespace to use when generating
             # Qt Help Project output. For more information please see
             # http://doc.trolltech.com/qthelpproject.html#namespace
             QHP_NAMESPACE          = org.doxygen.Project
             # The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating
             # Qt Help Project output. For more information please see
             # http://doc.trolltech.com/qthelpproject.html#virtual-folders
             QHP_VIRTUAL_FOLDER     = doc
             # If QHP_CUST_FILTER_NAME is set, it specifies the name of a custom filter to
             # add. For more information please see
             # http://doc.trolltech.com/qthelpproject.html#custom-filters
             QHP_CUST_FILTER_NAME   =
             # The QHP_CUST_FILT_ATTRS tag specifies the list of the attributes of the
             # custom filter to add. For more information please see
             # <a href="http://doc.trolltech.com/qthelpproject.html#custom-filters">
             # Qt Help Project / Custom Filters</a>.
             QHP_CUST_FILTER_ATTRS  =
             # The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
             # project's
             # filter section matches.
             # <a href="http://doc.trolltech.com/qthelpproject.html#filter-attributes">
             # Qt Help Project / Filter Attributes</a>.
             QHP_SECT_FILTER_ATTRS  =
             # If the GENERATE_QHP tag is set to YES, the QHG_LOCATION tag can
             # be used to specify the location of Qt's qhelpgenerator.
             # If non-empty doxygen will try to run qhelpgenerator on the generated
             # .qhp file.
             QHG_LOCATION           =
             # If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files
             # will be generated, which together with the HTML files, form an Eclipse help
             # plugin. To install this plugin and make it available under the help contents
             # menu in Eclipse, the contents of the directory containing the HTML and XML
             # files needs to be copied into the plugins directory of eclipse. The name of
             # the directory within the plugins directory should be the same as
             # the ECLIPSE_DOC_ID value. After copying Eclipse needs to be restarted before
             # the help appears.
             GENERATE_ECLIPSEHELP   = NO
             # A unique identifier for the eclipse help plugin. When installing the plugin
             # the directory name containing the HTML and XML files should also have
             # this name.
             ECLIPSE_DOC_ID         = org.doxygen.Project
             # The DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs)
             # at top of each HTML page. The value NO (the default) enables the index and
             # the value YES disables it. Since the tabs have the same information as the
             # navigation tree you can set this option to NO if you already set
             # GENERATE_TREEVIEW to YES.
             DISABLE_INDEX          = NO
             # The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
             # structure should be generated to display hierarchical information.
             # If the tag value is set to YES, a side panel will be generated
             # containing a tree-like index structure (just like the one that
             # is generated for HTML Help). For this to work a browser that supports
             # JavaScript, DHTML, CSS and frames is required (i.e. any modern browser).
             # Windows users are probably better off using the HTML help feature.
             # Since the tree basically has the same information as the tab index you
             # could consider to set DISABLE_INDEX to NO when enabling this option.
             GENERATE_TREEVIEW      = NO
             # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values
             # (range [0,1..20]) that doxygen will group on one line in the generated HTML
             # documentation. Note that a value of 0 will completely suppress the enum
             # values from appearing in the overview section.
             ENUM_VALUES_PER_LINE   = 4
             # If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be
             # used to set the initial width (in pixels) of the frame in which the tree
             # is shown.
             TREEVIEW_WIDTH         = 250
             # When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open
             # links to external symbols imported via tag files in a separate window.
             EXT_LINKS_IN_WINDOW    = NO
             # Use this tag to change the font size of Latex formulas included
             # as images in the HTML documentation. The default is 10. Note that
             # when you change the font size after a successful doxygen run you need
             # to manually remove any form_*.png images from the HTML output directory
             # to force them to be regenerated.
             FORMULA_FONTSIZE       = 10
             # Use the FORMULA_TRANPARENT tag to determine whether or not the images
             # generated for formulas are transparent PNGs. Transparent PNGs are
             # not supported properly for IE 6.0, but are supported on all modern browsers.
             # Note that when changing this option you need to delete any form_*.png files
             # in the HTML output before the changes have effect.
             FORMULA_TRANSPARENT    = YES
             # Enable the USE_MATHJAX option to render LaTeX formulas using MathJax
             # (see http://www.mathjax.org) which uses client side Javascript for the
             # rendering instead of using prerendered bitmaps. Use this if you do not
             # have LaTeX installed or if you want to formulas look prettier in the HTML
             # output. When enabled you may also need to install MathJax separately and
             # configure the path to it using the MATHJAX_RELPATH option.
             USE_MATHJAX            = NO
             # When MathJax is enabled you can set the default output format to be used for
             # thA MathJax output. Supported types are HTML-CSS, NativeMML (i.e. MathML) and
             # SVG. The default value is HTML-CSS, which is slower, but has the best
             # compatibility.
             MATHJAX_FORMAT         = HTML-CSS
             # When MathJax is enabled you need to specify the location relative to the
             # HTML output directory using the MATHJAX_RELPATH option. The destination
             # directory should contain the MathJax.js script. For instance, if the mathjax
             # directory is located at the same level as the HTML output directory, then
             # MATHJAX_RELPATH should be ../mathjax. The default value points to
             # the MathJax Content Delivery Network so you can quickly see the result without
             # installing MathJax.  However, it is strongly recommended to install a local
             # copy of MathJax from http://www.mathjax.org before deployment.
             MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
             # The MATHJAX_EXTENSIONS tag can be used to specify one or MathJax extension
             # names that should be enabled during MathJax rendering.
             MATHJAX_EXTENSIONS     =
             # When the SEARCHENGINE tag is enabled doxygen will generate a search box
             # for the HTML output. The underlying search engine uses javascript
             # and DHTML and should work on any modern browser. Note that when using
             # HTML help (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets
             # (GENERATE_DOCSET) there is already a search function so this one should
             # typically be disabled. For large projects the javascript based search engine
             # can be slow, then enabling SERVER_BASED_SEARCH may provide a better solution.
             SEARCHENGINE           = YES
             # When the SERVER_BASED_SEARCH tag is enabled the search engine will be
             # implemented using a web server instead of a web client using Javascript.
             # There are two flavours of web server based search depending on the
             # EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for
             # searching and an index file used by the script. When EXTERNAL_SEARCH is
             # enabled the indexing and searching needs to be provided by external tools.
             # See the manual for details.
             SERVER_BASED_SEARCH    = NO
             # When EXTERNAL_SEARCH is enabled doxygen will no longer generate the PHP
             # script for searching. Instead the search results are written to an XML file
             # which needs to be processed by an external indexer. Doxygen will invoke an
             # external search engine pointed to by the SEARCHENGINE_URL option to obtain
             # the search results. Doxygen ships with an example indexer (doxyindexer) and
             # search engine (doxysearch.cgi) which are based on the open source search engine
             # library Xapian. See the manual for configuration details.
             EXTERNAL_SEARCH        = NO
             # The SEARCHENGINE_URL should point to a search engine hosted by a web server
             # which will returned the search results when EXTERNAL_SEARCH is enabled.
             # Doxygen ships with an example search engine (doxysearch) which is based on
             # the open source search engine library Xapian. See the manual for configuration
             # details.
             SEARCHENGINE_URL       =
             # When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
             # search data is written to a file for indexing by an external tool. With the
             # SEARCHDATA_FILE tag the name of this file can be specified.
             SEARCHDATA_FILE        = searchdata.xml
             # When SERVER_BASED_SEARCH AND EXTERNAL_SEARCH are both enabled the
             # EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
             # useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
             # projects and redirect the results back to the right project.
             EXTERNAL_SEARCH_ID     =
             # The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
             # projects other than the one defined by this configuration file, but that are
             # all added to the same external search index. Each project needs to have a
             # unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id
             # of to a relative location where the documentation can be found.
             # The format is: EXTRA_SEARCH_MAPPINGS = id1=loc1 id2=loc2 ...
             EXTRA_SEARCH_MAPPINGS  =
             #---------------------------------------------------------------------------
             # configuration options related to the LaTeX output
             #---------------------------------------------------------------------------
             # If the GENERATE_LATEX tag is set to YES (the default) Doxygen will
             # generate Latex output.
             GENERATE_LATEX         = NO
             # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put.
             # If a relative path is entered the value of OUTPUT_DIRECTORY will be
             # put in front of it. If left blank `latex' will be used as the default path.
             LATEX_OUTPUT           = latex
             # The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
             # invoked. If left blank `latex' will be used as the default command name.
             # Note that when enabling USE_PDFLATEX this option is only used for
             # generating bitmaps for formulas in the HTML output, but not in the
             # Makefile that is written to the output directory.
             LATEX_CMD_NAME         = latex
             # The MAKEINDEX_CMD_NAME tag can be used to specify the command name to
             # generate index for LaTeX. If left blank `makeindex' will be used as the
             # default command name.
             MAKEINDEX_CMD_NAME     = makeindex
             # If the COMPACT_LATEX tag is set to YES Doxygen generates more compact
             # LaTeX documents. This may be useful for small projects and may help to
             # save some trees in general.
             COMPACT_LATEX          = NO
             # The PAPER_TYPE tag can be used to set the paper type that is used
             # by the printer. Possible values are: a4, letter, legal and
             # executive. If left blank a4wide will be used.
             PAPER_TYPE             = a4
             # The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX
             # packages that should be included in the LaTeX output.
             EXTRA_PACKAGES         =
             # The LATEX_HEADER tag can be used to specify a personal LaTeX header for
             # the generated latex document. The header should contain everything until
             # the first chapter. If it is left blank doxygen will generate a
             # standard header. Notice: only use this tag if you know what you are doing!
             LATEX_HEADER           =
             # The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for
             # the generated latex document. The footer should contain everything after
             # the last chapter. If it is left blank doxygen will generate a
             # standard footer. Notice: only use this tag if you know what you are doing!
             LATEX_FOOTER           =
             # If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated
             # is prepared for conversion to pdf (using ps2pdf). The pdf file will
             # contain links (just like the HTML output) instead of page references
             # This makes the output suitable for online browsing using a pdf viewer.
             PDF_HYPERLINKS         = YES
             # If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of
             # plain latex in the generated Makefile. Set this option to YES to get a
             # higher quality PDF documentation.
             USE_PDFLATEX           = YES
             # If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode.
             # command to the generated LaTeX files. This will instruct LaTeX to keep
             # running if errors occur, instead of asking the user for help.
             # This option is also used when generating formulas in HTML.
             LATEX_BATCHMODE        = NO
             # If LATEX_HIDE_INDICES is set to YES then doxygen will not
             # include the index chapters (such as File Index, Compound Index, etc.)
             # in the output.
             LATEX_HIDE_INDICES     = NO
             # If LATEX_SOURCE_CODE is set to YES then doxygen will include
             # source code with syntax highlighting in the LaTeX output.
             # Note that which sources are shown also depends on other settings
             # such as SOURCE_BROWSER.
             LATEX_SOURCE_CODE      = NO
             # The LATEX_BIB_STYLE tag can be used to specify the style to use for the
             # bibliography, e.g. plainnat, or ieeetr. The default style is "plain". See
             # http://en.wikipedia.org/wiki/BibTeX for more info.
             LATEX_BIB_STYLE        = plain
             #---------------------------------------------------------------------------
             # configuration options related to the RTF output
             #---------------------------------------------------------------------------
             # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
             # The RTF output is optimized for Word 97 and may not look very pretty with
             # other RTF readers or editors.
             GENERATE_RTF           = NO
             # The RTF_OUTPUT tag is used to specify where the RTF docs will be put.
             # If a relative path is entered the value of OUTPUT_DIRECTORY will be
             # put in front of it. If left blank `rtf' will be used as the default path.
             RTF_OUTPUT             = rtf
             # If the COMPACT_RTF tag is set to YES Doxygen generates more compact
             # RTF documents. This may be useful for small projects and may help to
             # save some trees in general.
             COMPACT_RTF            = NO
             # If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated
             # will contain hyperlink fields. The RTF file will
             # contain links (just like the HTML output) instead of page references.
             # This makes the output suitable for online browsing using WORD or other
             # programs which support those fields.
             # Note: wordpad (write) and others do not support links.
             RTF_HYPERLINKS         = NO
             # Load style sheet definitions from file. Syntax is similar to doxygen's
             # config file, i.e. a series of assignments. You only have to provide
             # replacements, missing definitions are set to their default value.
             RTF_STYLESHEET_FILE    =
             # Set optional variables used in the generation of an rtf document.
             # Syntax is similar to doxygen's config file.
             RTF_EXTENSIONS_FILE    =
             #---------------------------------------------------------------------------
             # configuration options related to the man page output
             #---------------------------------------------------------------------------
             # If the GENERATE_MAN tag is set to YES (the default) Doxygen will
             # generate man pages
             GENERATE_MAN           = NO
             # The MAN_OUTPUT tag is used to specify where the man pages will be put.
             # If a relative path is entered the value of OUTPUT_DIRECTORY will be
             # put in front of it. If left blank `man' will be used as the default path.
             MAN_OUTPUT             = man
             # The MAN_EXTENSION tag determines the extension that is added to
             # the generated man pages (default is the subroutine's section .3)
             MAN_EXTENSION          = .3
             # If the MAN_LINKS tag is set to YES and Doxygen generates man output,
             # then it will generate one additional man file for each entity
             # documented in the real man page(s). These additional files
             # only source the real man page, but without them the man command
             # would be unable to find the correct page. The default is NO.
             MAN_LINKS              = NO
             #---------------------------------------------------------------------------
             # configuration options related to the XML output
             #---------------------------------------------------------------------------
             # If the GENERATE_XML tag is set to YES Doxygen will
             # generate an XML file that captures the structure of
             # the code including all documentation.
             GENERATE_XML           = NO
             # The XML_OUTPUT tag is used to specify where the XML pages will be put.
             # If a relative path is entered the value of OUTPUT_DIRECTORY will be
             # put in front of it. If left blank `xml' will be used as the default path.
             XML_OUTPUT             = xml
             # The XML_SCHEMA tag can be used to specify an XML schema,
             # which can be used by a validating XML parser to check the
             # syntax of the XML files.
             XML_SCHEMA             =
             # The XML_DTD tag can be used to specify an XML DTD,
             # which can be used by a validating XML parser to check the
             # syntax of the XML files.
             XML_DTD                =
             # If the XML_PROGRAMLISTING tag is set to YES Doxygen will
             # dump the program listings (including syntax highlighting
             # and cross-referencing information) to the XML output. Note that
             # enabling this will significantly increase the size of the XML output.
             XML_PROGRAMLISTING     = YES
             #---------------------------------------------------------------------------
             # configuration options for the AutoGen Definitions output
             #---------------------------------------------------------------------------
             # If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will
             # generate an AutoGen Definitions (see autogen.sf.net) file
             # that captures the structure of the code including all
             # documentation. Note that this feature is still experimental
             # and incomplete at the moment.
             GENERATE_AUTOGEN_DEF   = NO
             #---------------------------------------------------------------------------
             # configuration options related to the Perl module output
             #---------------------------------------------------------------------------
             # If the GENERATE_PERLMOD tag is set to YES Doxygen will
             # generate a Perl module file that captures the structure of
             # the code including all documentation. Note that this
             # feature is still experimental and incomplete at the
             # moment.
             GENERATE_PERLMOD       = NO
             # If the PERLMOD_LATEX tag is set to YES Doxygen will generate
             # the necessary Makefile rules, Perl scripts and LaTeX code to be able
             # to generate PDF and DVI output from the Perl module output.
             PERLMOD_LATEX          = NO
             # If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
             # nicely formatted so it can be parsed by a human reader.  This is useful
             # if you want to understand what is going on.  On the other hand, if this
             # tag is set to NO the size of the Perl module output will be much smaller
             # and Perl will parse it just the same.
             PERLMOD_PRETTY         = YES
             # The names of the make variables in the generated doxyrules.make file
             # are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
             # This is useful so different doxyrules.make files included by the same
             # Makefile don't overwrite each other's variables.
             PERLMOD_MAKEVAR_PREFIX =
             #---------------------------------------------------------------------------
             # Configuration options related to the preprocessor
             #---------------------------------------------------------------------------
             # If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will
             # evaluate all C-preprocessor directives found in the sources and include
             # files.
             ENABLE_PREPROCESSING   = YES
             # If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro
             # names in the source code. If set to NO (the default) only conditional
             # compilation will be performed. Macro expansion can be done in a controlled
             # way by setting EXPAND_ONLY_PREDEF to YES.
             MACRO_EXPANSION        = NO
             # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES
             # then the macro expansion is limited to the macros specified with the
             # PREDEFINED and EXPAND_AS_DEFINED tags.
             EXPAND_ONLY_PREDEF     = NO
             # If the SEARCH_INCLUDES tag is set to YES (the default) the includes files
             # pointed to by INCLUDE_PATH will be searched when a #include is found.
             SEARCH_INCLUDES        = YES
             # The INCLUDE_PATH tag can be used to specify one or more directories that
             # contain include files that are not input files but should be processed by
             # the preprocessor.
             INCLUDE_PATH           =
             # You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
             # patterns (like *.h and *.hpp) to filter out the header-files in the
             # directories. If left blank, the patterns specified with FILE_PATTERNS will
             # be used.
             INCLUDE_FILE_PATTERNS  =
             # The PREDEFINED tag can be used to specify one or more macro names that
             # are defined before the preprocessor is started (similar to the -D option of
             # gcc). The argument of the tag is a list of macros of the form: name
             # or name=definition (no spaces). If the definition and the = are
             # omitted =1 is assumed. To prevent a macro definition from being
             # undefined via #undef or recursively expanded use the := operator
             # instead of the = operator.
             PREDEFINED             =
             # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
             # this tag can be used to specify a list of macro names that should be expanded.
             # The macro definition that is found in the sources will be used.
             # Use the PREDEFINED tag if you want to use a different macro definition that
             # overrules the definition found in the source code.
             EXPAND_AS_DEFINED      =
             # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
             # doxygen's preprocessor will remove all references to function-like macros
             # that are alone on a line, have an all uppercase name, and do not end with a
             # semicolon, because these will confuse the parser if not removed.
             SKIP_FUNCTION_MACROS   = YES
             #---------------------------------------------------------------------------
             # Configuration::additions related to external references
             #---------------------------------------------------------------------------
             # The TAGFILES option can be used to specify one or more tagfiles. For each
             # tag file the location of the external documentation should be added. The
             # format of a tag file without this location is as follows:
             #   TAGFILES = file1 file2 ...
             # Adding location for the tag files is done as follows:
             #   TAGFILES = file1=loc1 "file2 = loc2" ...
             # where "loc1" and "loc2" can be relative or absolute paths
             # or URLs. Note that each tag file must have a unique name (where the name does
             # NOT include the path). If a tag file is not located in the directory in which
             # doxygen is run, you must also specify the path to the tagfile here.
             TAGFILES               =
             # When a file name is specified after GENERATE_TAGFILE, doxygen will create
             # a tag file that is based on the input files it reads.
             GENERATE_TAGFILE       =
             # If the ALLEXTERNALS tag is set to YES all external classes will be listed
             # in the class index. If set to NO only the inherited external classes
             # will be listed.
             ALLEXTERNALS           = NO
             # If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed
             # in the modules index. If set to NO, only the current project's groups will
             # be listed.
             EXTERNAL_GROUPS        = YES
             # The PERL_PATH should be the absolute path and name of the perl script
             # interpreter (i.e. the result of `which perl').
             PERL_PATH              = /usr/bin/perl
             #---------------------------------------------------------------------------
             # Configuration options related to the dot tool
             #---------------------------------------------------------------------------
             # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
             # generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
             # or super classes. Setting the tag to NO turns the diagrams off. Note that
             # this option also works with HAVE_DOT disabled, but it is recommended to
             # install and use dot, since it yields more powerful graphs.
             CLASS_DIAGRAMS         = NO
             # You can define message sequence charts within doxygen comments using the \msc
             # command. Doxygen will then run the mscgen tool (see
             # http://www.mcternan.me.uk/mscgen/) to produce the chart and insert it in the
             # documentation. The MSCGEN_PATH tag allows you to specify the directory where
             # the mscgen tool resides. If left empty the tool is assumed to be found in the
             # default search path.
             MSCGEN_PATH            =
             # If set to YES, the inheritance and collaboration graphs will hide
             # inheritance and usage relations if the target is undocumented
             # or is not a class.
             HIDE_UNDOC_RELATIONS   = YES
             # If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
             # available from the path. This tool is part of Graphviz, a graph visualization
             # toolkit from AT&T and Lucent Bell Labs. The other options in this section
             # have no effect if this option is set to NO (the default)
             HAVE_DOT               = YES
             # The DOT_NUM_THREADS specifies the number of dot invocations doxygen is
             # allowed to run in parallel. When set to 0 (the default) doxygen will
             # base this on the number of processors available in the system. You can set it
             # explicitly to a value larger than 0 to get control over the balance
             # between CPU load and processing speed.
             DOT_NUM_THREADS        = 4
             # By default doxygen will use the Helvetica font for all dot files that
             # doxygen generates. When you want a differently looking font you can specify
             # the font name using DOT_FONTNAME. You need to make sure dot is able to find
             # the font, which can be done by putting it in a standard location or by setting
             # the DOTFONTPATH environment variable or by setting DOT_FONTPATH to the
             # directory containing the font.
             DOT_FONTNAME           = Helvetica
             # The DOT_FONTSIZE tag can be used to set the size of the font of dot graphs.
             # The default size is 10pt.
             DOT_FONTSIZE           = 10
             # By default doxygen will tell dot to use the Helvetica font.
             # If you specify a different font using DOT_FONTNAME you can use DOT_FONTPATH to
             # set the path where dot can find it.
             DOT_FONTPATH           =
             # If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen
             # will generate a graph for each documented class showing the direct and
             # indirect inheritance relations. Setting this tag to YES will force the
             # CLASS_DIAGRAMS tag to NO.
             CLASS_GRAPH            = NO
             # If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen
             # will generate a graph for each documented class showing the direct and
             # indirect implementation dependencies (inheritance, containment, and
             # class references variables) of the class with other documented classes.
             COLLABORATION_GRAPH    = YES
             # If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
             # will generate a graph for groups, showing the direct groups dependencies
             GROUP_GRAPHS           = YES
             # If the UML_LOOK tag is set to YES doxygen will generate inheritance and
             # collaboration diagrams in a style similar to the OMG's Unified Modeling
             # Language.
             UML_LOOK               = NO
             # If the UML_LOOK tag is enabled, the fields and methods are shown inside
             # the class node. If there are many fields or methods and many nodes the
             # graph may become too big to be useful. The UML_LIMIT_NUM_FIELDS
             # threshold limits the number of items for each type to make the size more
             # managable. Set this to 0 for no limit. Note that the threshold may be
             # exceeded by 50% before the limit is enforced.
             UML_LIMIT_NUM_FIELDS   = 10
             # If set to YES, the inheritance and collaboration graphs will show the
             # relations between templates and their instances.
             TEMPLATE_RELATIONS     = NO
             # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT
             # tags are set to YES then doxygen will generate a graph for each documented
             # file showing the direct and indirect include dependencies of the file with
             # other documented files.
             INCLUDE_GRAPH          = YES
             # If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and
             # HAVE_DOT tags are set to YES then doxygen will generate a graph for each
             # documented header file showing the documented files that directly or
             # indirectly include this file.
             INCLUDED_BY_GRAPH      = YES
             # If the CALL_GRAPH and HAVE_DOT options are set to YES then
             # doxygen will generate a call dependency graph for every global function
             # or class method. Note that enabling this option will significantly increase
             # the time of a run. So in most cases it will be better to enable call graphs
             # for selected functions only using the \callgraph command.
             CALL_GRAPH             = YES
             # If the CALLER_GRAPH and HAVE_DOT tags are set to YES then
             # doxygen will generate a caller dependency graph for every global function
             # or class method. Note that enabling this option will significantly increase
             # the time of a run. So in most cases it will be better to enable caller
             # graphs for selected functions only using the \callergraph command.
-            CALLER_GRAPH           = NO
+            CALLER_GRAPH           = YES
             # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
             # will generate a graphical hierarchy of all classes instead of a textual one.
             GRAPHICAL_HIERARCHY    = YES
             # If the DIRECTORY_GRAPH and HAVE_DOT tags are set to YES
             # then doxygen will show the dependencies a directory has on other directories
             # in a graphical way. The dependency relations are determined by the #include
             # relations between the files in the directories.
             DIRECTORY_GRAPH        = YES
             # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
             # generated by dot. Possible values are svg, png, jpg, or gif.
             # If left blank png will be used. If you choose svg you need to set
             # HTML_FILE_EXTENSION to xhtml in order to make the SVG files
             # visible in IE 9+ (other browsers do not have this requirement).
             DOT_IMAGE_FORMAT       = png
             # If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
             # enable generation of interactive SVG images that allow zooming and panning.
             # Note that this requires a modern browser other than Internet Explorer.
             # Tested and working are Firefox, Chrome, Safari, and Opera. For IE 9+ you
             # need to set HTML_FILE_EXTENSION to xhtml in order to make the SVG files
             # visible. Older versions of IE do not have SVG support.
             INTERACTIVE_SVG        = YES
             # The tag DOT_PATH can be used to specify the path where the dot tool can be
             # found. If left blank, it is assumed the dot tool can be found in the path.
             DOT_PATH               =
             # The DOTFILE_DIRS tag can be used to specify one or more directories that
             # contain dot files that are included in the documentation (see the
             # \dotfile command).
             DOTFILE_DIRS           =
             # The MSCFILE_DIRS tag can be used to specify one or more directories that
             # contain msc files that are included in the documentation (see the
             # \mscfile command).
             MSCFILE_DIRS           =
             # The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of
             # nodes that will be shown in the graph. If the number of nodes in a graph
             # becomes larger than this value, doxygen will truncate the graph, which is
             # visualized by representing a node as a red box. Note that doxygen if the
             # number of direct children of the root node in a graph is already larger than
             # DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note
             # that the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
             DOT_GRAPH_MAX_NODES    = 50
             # The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
             # graphs generated by dot. A depth value of 3 means that only nodes reachable
             # from the root by following a path via at most 3 edges will be shown. Nodes
             # that lay further from the root node will be omitted. Note that setting this
             # option to 1 or 2 may greatly reduce the computation time needed for large
             # code bases. Also note that the size of a graph can be further restricted by
             # DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
             MAX_DOT_GRAPH_DEPTH    = 0
             # Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
             # background. This is disabled by default, because dot on Windows does not
             # seem to support this out of the box. Warning: Depending on the platform used,
             # enabling this option may lead to badly anti-aliased labels on the edges of
             # a graph (i.e. they become hard to read).
             DOT_TRANSPARENT        = NO
             # Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
             # files in one run (i.e. multiple -o and -T options on the command line). This
             # makes dot run faster, but since only newer versions of dot (>1.8.10)
             # support this, this feature is disabled by default.
             DOT_MULTI_TARGETS      = NO
             # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
             # generate a legend page explaining the meaning of the various boxes and
             # arrows in the dot generated graphs.
             GENERATE_LEGEND        = YES
             # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
             # remove the intermediate dot files that are used to generate
             # the various graphs.
             DOT_CLEANUP            = YES

header/ccsds_types.h +3 -3

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

header/fsw_init.h +3 -12

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

header/fsw_misc.h +12 -7

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

header/fsw_params.h +3 -3

-            #ifndef FSW_RTEMS_CONFIG_H_INCLUDED
+            #ifndef FSW_PARAMS_H_INCLUDED
-            #define FSW_RTEMS_CONFIG_H_INCLUDED
+            #define FSW_PARAMS_H_INCLUDED
             #include "grlib_regs.h"
             #include "fsw_params_processing.h"
             #include "tm_byte_positions.h"
             #include "ccsds_types.h"
             #define GRSPW_DEVICE_NAME "/dev/grspw0"
             #define UART_DEVICE_NAME "/dev/console"
             //************************
             // flight software version
             // this parameters is handled by the Qt project options
             //**********
             // LFR MODES
             #define LFR_MODE_STANDBY 0
             #define LFR_MODE_NORMAL 1
             #define LFR_MODE_BURST 2
             #define LFR_MODE_SBM1 3
             #define LFR_MODE_SBM2 4
             #define LFR_MODE_NORMAL_CWF_F3 5
             #define RTEMS_EVENT_MODE_STANDBY RTEMS_EVENT_0
             #define RTEMS_EVENT_MODE_NORMAL RTEMS_EVENT_1
             #define RTEMS_EVENT_MODE_BURST RTEMS_EVENT_2
             #define RTEMS_EVENT_MODE_SBM1 RTEMS_EVENT_3
             #define RTEMS_EVENT_MODE_SBM2 RTEMS_EVENT_4
             #define RTEMS_EVENT_MODE_SBM2_WFRM RTEMS_EVENT_5
             //****************************
             // LFR DEFAULT MODE PARAMETERS
             // COMMON
             #define DEFAULT_SY_LFR_COMMON0 0x00
             #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
             // NORM
             #define DEFAULT_SY_LFR_N_SWF_L 2048 // nb sample
             #define 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
             #define TASK_PRIORITY_SPIQ 5
             #define TASK_PRIORITY_SMIQ 10
             //
             #define TASK_PRIORITY_RECV 20
             #define TASK_PRIORITY_ACTN 30
             //
             #define TASK_PRIORITY_HOUS 40
             #define TASK_PRIORITY_CWF1 40
             #define TASK_PRIORITY_CWF2 40
             #define TASK_PRIORITY_WFRM 40
             #define TASK_PRIORITY_CWF3 40
             //
             #define TASK_PRIORITY_SEND 40
             //
             #define TASK_PRIORITY_AVF0 60
             #define TASK_PRIORITY_BPF0 60
             #define TASK_PRIORITY_MATR 100
             #define TASK_PRIORITY_STAT 200
             #define TASK_PRIORITY_DUMB 200
             #define ACTION_MSG_QUEUE_COUNT 10
             #define ACTION_MSG_PKTS_COUNT 50
             #define ACTION_MSG_PKTS_MAX_SIZE (PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES)
             #define ACTION_MSG_SPW_IOCTL_SEND_SIZE 24                   // hlen *hdr dlen *data sent options
             #define QUEUE_RECV 0
             #define QUEUE_SEND 1
             //*******
             // MACROS
             #ifdef PRINT_MESSAGES_ON_CONSOLE
             #define PRINTF(x) printf(x);
             #define PRINTF1(x,y) printf(x,y);
             #define PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define PRINTF(x) ;
             #define PRINTF1(x,y) ;
             #define PRINTF2(x,y,z) ;
             #endif
             #ifdef BOOT_MESSAGES
             #define BOOT_PRINTF(x) printf(x);
             #define BOOT_PRINTF1(x,y) printf(x,y);
             #define BOOT_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define BOOT_PRINTF(x) ;
             #define BOOT_PRINTF1(x,y) ;
             #define BOOT_PRINTF2(x,y,z) ;
             #endif
             #ifdef DEBUG_MESSAGES
             #define DEBUG_PRINTF(x) printf(x);
             #define DEBUG_PRINTF1(x,y) printf(x,y);
             #define DEBUG_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define DEBUG_PRINTF(x) ;
             #define DEBUG_PRINTF1(x,y) ;
             #define DEBUG_PRINTF2(x,y,z) ;
             #endif
             #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
             #define NB_SAMPLES_PER_SNAPSHOT 2048
             #define TIME_OFFSET 2
             #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
             #define NB_BYTES_SWF_BLK (2 * 6)
             #define NB_WORDS_SWF_BLK 3
             #define NB_BYTES_CWF3_LIGHT_BLK 6
             #define WFRM_INDEX_OF_LAST_PACKET 6  // waveforms are transmitted in groups of 2048 blocks, 6 packets of 340 and 1 of 8
             //******************
             // SEQUENCE COUNTERS
             #define SEQ_CNT_NB_PID 2
             #define SEQ_CNT_NB_CAT 4
             #define SEQ_CNT_NB_DEST_ID 11
             // pid
             #define SEQ_CNT_PID_76 0
             #define SEQ_CNT_PID_79 1
             //cat
             #define SEQ_CNT_CAT_1 0
             #define SEQ_CNT_CAT_4 1
             #define SEQ_CNT_CAT_9 2
             #define SEQ_CNT_CAT_12 3
             // destination id
             #define SEQ_CNT_DST_ID_GROUND 0
             #define SEQ_CNT_DST_ID_MISSION_TIMELINE 1
             #define SEQ_CNT_DST_ID_TC_SEQUENCES 2
             #define SEQ_CNT_DST_ID_RECOVERY_ACTION_CMD 3
             #define SEQ_CNT_DST_ID_BACKUP_MISSION_TIMELINE 4
             #define SEQ_CNT_DST_ID_DIRECT_CMD 5
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC1 6
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC2 7
             #define SEQ_CNT_DST_ID_OBCP 8
             #define SEQ_CNT_DST_ID_SYSTEM_CONTROL 9
             #define SEQ_CNT_DST_ID_AOCS 10
             struct param_local_str{
                 unsigned int local_sbm1_nb_cwf_sent;
                 unsigned int local_sbm1_nb_cwf_max;
                 unsigned int local_sbm2_nb_cwf_sent;
                 unsigned int local_sbm2_nb_cwf_max;
                 unsigned int local_nb_interrupt_f0_MAX;
             };
-            #endif // FSW_RTEMS_CONFIG_H_INCLUDED
+            #endif // FSW_PARAMS_H_INCLUDED

header/fsw_processing.h +14 -4

-            #ifndef FSW_RTEMS_PROCESSING_H_INCLUDED
+            #ifndef FSW_PROCESSING_H_INCLUDED
-            #define FSW_RTEMS_PROCESSING_H_INCLUDED
+            #define FSW_PROCESSING_H_INCLUDED
-            #include "fsw_init.h"
+            #include <rtems.h>
+            #include <grspw.h>
+            #include <math.h>
+            #include <stdlib.h> // abs() is in the stdlib
+            #include <stdio.h>  // printf()
+            #include "fsw_params.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[ ];
             // parameters
             extern struct param_local_str param_local;
             // registers
             extern time_management_regs_t *time_management_regs;
             extern spectral_matrix_regs_t *spectral_matrix_regs;
+            extern rtems_name  misc_name[5];
+            extern rtems_id    Task_id[20];         /* array of task ids */
             // 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);
             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, rtems_id queue_id);
             void convert_averaged_spectral_matrix(volatile float *input_matrix, char *output_matrix);
             void fill_averaged_spectral_matrix( void );
             void reset_spectral_matrix_regs();
-            #endif // FSW_RTEMS_PROCESSING_H_INCLUDED
+            #endif // FSW_PROCESSING_H_INCLUDED

header/fsw_spacewire.h +22 -8

@@ -1,22 +1,36
1	#ifndef FSW_SPACEWIRE_H_INCLUDED	1	#ifndef FSW_SPACEWIRE_H_INCLUDED
2	#define FSW_SPACEWIRE_H_INCLUDED	2	#define FSW_SPACEWIRE_H_INCLUDED
3		3
4	#include ~~"fsw_init.h"~~	4	#include <rtems.h>
		5	#include <grspw.h>
		6
		7	#include <fcntl.h> // for O_RDWR
		8	#include <unistd.h> // for the read call
		9	#include <sys/ioctl.h> // for the ioctl call
		10	#include <errno.h>
		11
		12	#include "fsw_params.h"
		13	#include "tc_handler.h"
5		14
6	extern spw_stats spacewire_stats;	15	extern spw_stats spacewire_stats;
7	extern spw_stats spacewire_stats_backup;	16	extern spw_stats spacewire_stats_backup;
		17	extern Packet_TM_LFR_HK_t housekeeping_packet;
		18	extern rtems_id Task_id[20]; /* array of task ids */
8		19
9	// RTEMS TASK	20	// RTEMS TASK
10	rtems_task spiq_task(rtems_task_argument argument);	21	rtems_task spiq_task( rtems_task_argument argument );
		22	rtems_task recv_task( rtems_task_argument unused );
		23	rtems_task send_task( rtems_task_argument argument );
11		24
12	int spacewire_configure_link( void );	25	int spacewire_configure_link( void );
13	int spacewire_wait_for_link(void);	26	int spacewire_wait_for_link( void );
14	void spacewire_set_NP(unsigned char val, unsigned int regAddr); // No Port force	27	void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
15	void spacewire_set_RE(unsigned char val, unsigned int regAddr); // RMAP Enable	28	void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
16	void spacewire_compute_stats_offsets(void);	29	void spacewire_compute_stats_offsets( void );
		30	void spacewire_update_statistics( void );
17		31
18	void timecode_irq_handler(void pDev, void regs, int minor, unsigned int tc);	32	void timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc );
19		33
20	void (grspw_timecode_callback) (void pDev, void *regs, int minor, unsigned int tc);	34	void (grspw_timecode_callback) ( void pDev, void *regs, int minor, unsigned int tc );
21		35
22	#endif // FSW_SPACEWIRE_H_INCLUDED	36	#endif // FSW_SPACEWIRE_H_INCLUDED

header/grlib_regs.h +3 -3

-            #ifndef GRLIBREGS_H_INCLUDED
+            #ifndef GRLIB_REGS_H_INCLUDED
-            #define GRLIBREGS_H_INCLUDED
+            #define GRLIB_REGS_H_INCLUDED
             #define NB_GPTIMER 3
             struct apbuart_regs_str{
                 volatile unsigned int data;
                 volatile unsigned int status;
                 volatile unsigned int ctrl;
                 volatile unsigned int scaler;
                 volatile unsigned int fifoDebug;
             };
             struct ahbuart_regs_str{
                 volatile unsigned int unused;
                 volatile unsigned int status;
                 volatile unsigned int ctrl;
                 volatile unsigned int scaler;
             };
             struct timer_regs_str
             {
                 volatile unsigned int counter;
                 volatile unsigned int reload;
                 volatile unsigned int ctrl;
                 volatile unsigned int unused;
             };
             typedef struct timer_regs_str timer_regs_t;
             struct gptimer_regs_str
             {
                 volatile unsigned int scaler_value;
                 volatile unsigned int scaler_reload;
                 volatile unsigned int conf;
                 volatile unsigned int unused0;
                 timer_regs_t timer[NB_GPTIMER];
             };
             typedef struct gptimer_regs_str gptimer_regs_t;
             struct time_management_regs_str{
                 volatile int ctrl; // bit 0 forces the load of the coarse_time_load value and resets the fine_time
                 volatile int coarse_time_load;
                 volatile int coarse_time;
                 volatile int fine_time;
             };
             typedef struct time_management_regs_str time_management_regs_t;
             struct waveform_picker_regs_str{
                 volatile int data_shaping;      // 0x00 00      *** R1 R0 SP1 SP0 BW
                 volatile int burst_enable;      // 0x04 01      *** burst f2, f1, f0     enable f3, f2, f1, f0
                 volatile int addr_data_f0;      // 0x08 10      ***
                 volatile int addr_data_f1;      // 0x0c 11      ***
                 volatile int addr_data_f2;      // 0x10 100     ***
                 volatile int addr_data_f3;      // 0x14 101     ***
                 volatile int status;            // 0x18 110     ***
                 volatile int delta_snapshot;    // 0x1c 111     ***
                 volatile int delta_f2_f1;       // 0x20 0000    ***
                 volatile int delta_f2_f0;       // 0x24 0001    ***
                 volatile int nb_burst_available;// 0x28 0010    ***
                 volatile int nb_snapshot_param; // 0x2c 0011    ***
             };
             typedef struct waveform_picker_regs_str waveform_picker_regs_t;
             struct spectral_matrix_regs_str{
                 volatile int config;
                 volatile int status;
                 volatile int matrixF0_Address0;
                 volatile int matrixFO_Address1;
                 volatile int matrixF1_Address;
                 volatile int matrixF2_Address;
             };
             typedef struct spectral_matrix_regs_str spectral_matrix_regs_t;
-            #endif // GRLIBREGS_H_INCLUDED
+            #endif // GRLIB_REGS_H_INCLUDED

header/tc_handler.h +11 -19

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
-            #include "fsw_init.h"
+            #include <rtems.h>
+            #include <leon.h>
             #include "tc_load_dump_parameters.h"
+            #include "tc_acceptance.h"
             #include "tm_lfr_tc_exe.h"
+            #include "wf_handler.h"
             // MODE PARAMETERS
             extern struct param_sbm1_str param_sbm1;
             extern struct param_sbm2_str param_sbm2;
             extern time_management_regs_t *time_management_regs;
             extern waveform_picker_regs_t *waveform_picker_regs;
             extern gptimer_regs_t         *gptimer_regs;
+            extern rtems_name  misc_name[5];
+            extern rtems_id    Task_id[20];         /* array of task ids */
+            extern unsigned char lfrCurrentMode;
+            extern unsigned int maxCount;
             //****
             // 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, rtems_id queue_recv_id, rtems_id queue_send_id);
-            int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int TC_LEN_RCV);
-            int tc_check_type( unsigned char packetType );
-            int tc_check_subtype( unsigned char packetType );
-            int tc_check_length( unsigned char packetType, unsigned int length );
-            int tc_check_crc( ccsdsTelecommandPacket_t * TCPacket, unsigned int length );
             //***********
             // 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, rtems_id queue_id);
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             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 updateLFRCurrentMode();
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC);
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC);
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id);
             #endif // TC_HANDLER_H_INCLUDED

header/tc_load_dump_parameters.h +11 -1

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

header/wf_handler.h +16 -3

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

src/fsw_globals.c +17 -1

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

src/fsw_init.c +33 -1

+            /** This is the RTEMS initialization module.
+             *
+             * @file
+             * @author P. LEROY
+             *
+             * This module contains two very different information:
+             * - specific instructions to configure the compilation of the RTEMS executive
+             * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
+             *
+             */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5  // STAT (1s), send SWF (0.3s), send CWF3 (1s)
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             rtems_task Init( rtems_task_argument ignored )
             {
+                /** This is the RTEMS INIT taks, it the first task launched by the system.
+                 *
+                 * @param unused is the starting argument of the RTEMS task
+                 *
+                 * The INIT task create and run all other RTEMS tasks.
+                 *
+                 */
                 rtems_status_code status;
                 rtems_isr_entry  old_isr_handler;
                 BOOT_PRINTF("\n\n\n\n\n")
                 BOOT_PRINTF("***************************\n")
                 BOOT_PRINTF("** START Flight Software **\n")
                 BOOT_PRINTF("***************************\n")
                 BOOT_PRINTF("\n\n")
                 //send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 create_names();         // create all names
                 create_message_queues();
                 status = create_all_tasks();    // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
                 }
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 status = stop_current_mode();   // go in STANDBY mode
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in stop_current_mode, code %d", status)
                 }
                 grspw_timecode_callback = &timecode_irq_handler;
                 spacewire_configure_link();
             #ifdef GSA
                 // mask IRQ lines
                 LEON_Mask_interrupt( IRQ_SM );
                 LEON_Mask_interrupt( IRQ_WF );
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
                 // WaveForms
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_simulator_isr );
             #else
                 // mask IRQ lines
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
                 // reset configuration registers
                 reset_waveform_picker_regs();
                 reset_spectral_matrix_regs();
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrix unit
             //    status = rtems_interrupt_catch( spectral_matrices_isr,
             //                                   IRQ_SPARC_SPECTRAL_MATRIX,
             //                                   &old_isr_handler) ;
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr_simu );
             #endif
                 BOOT_PRINTF("delete INIT\n")
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_parameter_dump( void )
             {
+                /** This function initialize the parameter_dump_packet global variable with default values.
+                 *
+                 */
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
                 parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                 // DATA FIELD HEADER
                 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
             }
             void init_local_mode_parameters( void )
             {
+                /** This function initialize the param_local global variable with default values.
+                 *
+                 */
                 // LOCAL PARAMETERS
                 set_local_sbm1_nb_cwf_max();
                 set_local_sbm2_nb_cwf_max();
                 set_local_nb_interrupt_f0_MAX();
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 reset_local_sbm1_nb_cwf_sent();
                 reset_local_sbm2_nb_cwf_sent();
             }
             void init_housekeeping_parameters( void )
             {
+                /** This function initialize the housekeeping_packet global variable with default values.
+                 *
+                 */
                 unsigned int i = 0;
                 unsigned int j = 0;
                 unsigned int k = 0;
                 char *parameters;
                 parameters = (char*) &housekeeping_packet.lfr_status_word;
                 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = 0x00;
                 housekeeping_packet.lfr_status_word[1] = 0x00;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init sequence counters
                 for (i = 0; i<SEQ_CNT_NB_PID; i++)
                 {
                     for(j = 0; j<SEQ_CNT_NB_CAT; j++)
                     {
                         for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
                         {
                             sequenceCounters[i][j][k] = 0x00;
                         }
                     }
                 }
                 updateLFRCurrentMode();
             }
             int create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
-                 * - RTEMS_SUCCESSFUL - message sent successfully
+                 * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 // rate monotonic period name
                 HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', 'U', 'E', 'U' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'P', 'K', 'T', 'S' );
                 return RTEMS_SUCCESSFUL;
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SMIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // STAT
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // BPF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // MATR
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
                     );
                 }
                 return status;
             }
             int start_all_tasks( void )
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SMIQ
                 {
                     status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_BPPR\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // RECV
                 {
                     status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // STAT
                 {
                     status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // BPF0
                 {
                     status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_BPF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // MATR
                 {
                     status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_MATR\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 // create the queue for handling valid TCs
                 status = rtems_message_queue_create( misc_name[QUEUE_RECV], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if (status != RTEMS_SUCCESSFUL) {
                     ret = status;
                     BOOT_PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", ret)
                 }
                 // create the queue for handling TM packet sending
                 ret = rtems_message_queue_create( misc_name[QUEUE_SEND], ACTION_MSG_PKTS_COUNT,
                                                   ACTION_MSG_PKTS_MAX_SIZE,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if (ret != RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", ret)
                 }
                 return ret;
             }

src/fsw_misc.c +83 -140

+            /** General usage functions and RTEMS tasks.
+             *
+             * @file
+             * @author P. LEROY
+             *
+             */
             #include "fsw_misc.h"
+            char *DumbMessages[6] = {"in DUMB *** default",                                             // RTEMS_EVENT_0
+                                "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
+                                "in DUMB *** waveforms_isr",                                            // RTEMS_EVENT_2
+                                "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
+                                "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
+                                "in DUMB *** waveforms_simulator_isr"                                   // RTEMS_EVENT_5
+            };
             int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
-            { // configure the timer for the waveforms simulation
+                /** This function configures a GPTIMER timer instantiated in the VHDL design.
+                 *
+                 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
+                 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
+                 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
+                 * @param interrupt_level is the interrupt level that the timer drives.
+                 * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
+                 *
+                 * @return
+                 *
+                 * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
+                 *
+                 */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status!=RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
                 return 1;
             }
             int timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
+                /** This function starts a GPTIMER timer.
+                 *
+                 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
+                 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
+                 *
+                 * @return 1
+                 *
+                 */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
                 return 1;
             }
             int timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
+                /** This function stops a GPTIMER timer.
+                 *
+                 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
+                 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
+                 *
+                 * @return 1
+                 *
+                 */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 return 1;
             }
             int timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
             {
+                /** This function sets the clock divider of a GPTIMER timer.
+                 *
+                 * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
+                 * @param timer is the number of the timer in the IP core (several timers can be instantiated).
+                 * @param clock_divider is the divider of the 1 MHz clock that will be configured.
+                 *
+                 * @return 1
+                 *
+                 */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
                 return 1;
             }
-            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;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
             //************
             // RTEMS TASKS
             rtems_task stat_task(rtems_task_argument argument)
             {
                 int i;
                 int j;
                 i = 0;
                 j = 0;
                 BOOT_PRINTF("in STAT *** \n")
                 while(1){
                     rtems_task_wake_after(1000);
                     PRINTF1("%d\n", j)
                     if (i == CPU_USAGE_REPORT_PERIOD) {
             //            #ifdef PRINT_TASK_STATISTICS
             //            rtems_cpu_usage_report();
             //            rtems_cpu_usage_reset();
             //            #endif
                         i = 0;
                     }
                     else i++;
                     j++;
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send;
                 rtems_id queue_id;
                 spw_ioctl_send.hlen = 0;
                 spw_ioctl_send.hdr = NULL;
                 spw_ioctl_send.dlen = PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 spw_ioctl_send.data = (char*) &housekeeping_packet;
                 spw_ioctl_send.options = 0;
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n")
                 if (rtems_rate_monotonic_ident( HK_name, &HK_id) != RTEMS_SUCCESSFUL) {
                     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 {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_period *** code %d\n", status);
                     }
                     else {
                         housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                         housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                         housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                         housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                         housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         housekeeping_packet.sid = SID_HK;
-                        update_spacewire_statistics();
+                        spacewire_update_statistics();
                         // SEND PACKET
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 printf( "rtems_task_delete returned with status of %d.\n", status );
-                exit( 1 );
+                return;
             }
-            rtems_task send_task( rtems_task_argument argument)
+            rtems_task dumb_task( rtems_task_argument unused )
             {
-                rtems_status_code status;               // RTEMS status code
+                /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
-                char incomingData[ACTION_MSG_PKTS_MAX_SIZE];  // incoming data buffer
-                spw_ioctl_pkt_send *spw_ioctl_send;
+                 * @param unused is the starting argument of the RTEMS task
-                size_t size;                            // size of the incoming TC packet
-                u_int32_t count;
+                 * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
-                rtems_id queue_id;
+                 */
-                status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
-                if (status != RTEMS_SUCCESSFUL)
-                    PRINTF1("in SEND *** ERR getting queue id, %d\n", status)
-                BOOT_PRINTF("in SEND *** \n")
+                unsigned int i;
+                unsigned int intEventOut;
+                unsigned int coarse_time = 0;
+                unsigned int fine_time = 0;
+                rtems_event_set event_out;
-                while(1)
+                BOOT_PRINTF("in DUMB *** \n")
-                    status = rtems_message_queue_receive( queue_id, incomingData, &size,
-                                                         RTEMS_WAIT, RTEMS_NO_TIMEOUT );
-                    if (status!=RTEMS_SUCCESSFUL)
+                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++)
                     {
-                        PRINTF1("in SEND *** (1) ERR = %d\n", status)
+                        if ( ((intEventOut >> i) & 0x0001) != 0)
-                    else
-                        if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
                         {
-                            status = write( fdSPW, incomingData, size );
+                            coarse_time = time_management_regs->coarse_time;
-                            if (status == -1){
+                            fine_time = time_management_regs->fine_time;
-                                PRINTF2("in SEND *** (2.a) ERR = %d, size = %d\n", status, size)
+                            printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
-                        else // the incoming message is a spw_ioctl_pkt_send structure
-                            spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
-                            if (spw_ioctl_send->hlen == 0)
-                                status = write( fdSPW, spw_ioctl_send->data, spw_ioctl_send->dlen );
-                                if (status == -1){
-                                    PRINTF2("in SEND *** (2.b) ERR = %d, dlen = %d\n", status, spw_ioctl_send->dlen)
-                            else
-                                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
-                                if (status == -1){
-                                    PRINTF2("in SEND *** (2.c) ERR = %d, dlen = %d\n", status, spw_ioctl_send->dlen)
-                                    PRINTF1("                            hlen = %d\n", spw_ioctl_send->hlen)
-                    status = rtems_message_queue_get_number_pending( queue_id, &count );
-                    if (status != RTEMS_SUCCESSFUL)
-                        PRINTF1("in SEND *** (3) ERR = %d\n", status)
-                    else
-                        if (count > maxCount)
-                            maxCount = count;
                         }
                     }
                 }
             }
-            rtems_id get_pkts_queue_id( void )
-                rtems_id queue_id;
-                rtems_status_code status;
-                status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
-                if (status != RTEMS_SUCCESSFUL)
-                    PRINTF1("in get_pkts_queue_id *** ERR %d\n", status)
-                return queue_id;

src/fsw_processing.c +10 -1

+            /** Functions related to data processing.
+             *
+             * @file
+             * @author P. LEROY
+             *
+             * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
+             *
+             */
             #include <fsw_processing.h>
             #include <math.h>
-            #include <fsw_processing_globals.c>
+            #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;
                 BOOT_PRINTF("in SMIQ *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     nb_interrupt_f0 = nb_interrupt_f0 + 1;
                     if (nb_interrupt_f0 == NB_SM_TO_RECEIVE_BEFORE_AVF0 ){
                         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;
                 BOOT_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);
                 }
             }
             rtems_task avf0_task(rtems_task_argument argument)
             {
                 int i;
                 static int nb_average;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 nb_average = 0;
                 BOOT_PRINTF("in AVFO *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     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;
                 BOOT_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;
                 rtems_status_code status;
                 rtems_id queue_id;
                 Header_TM_LFR_SCIENCE_ASM_t headerASM;
                 init_header_asm( &headerASM );
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in MATR *** ERR getting queue id, %d\n", status)
                 }
                 BOOT_PRINTF("in MATR *** \n")
                 fill_averaged_spectral_matrix( );
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
             #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, queue_id);
                 }
             }
             //*****************************
             // Spectral matrices processing
             void matrix_reset(volatile float *averaged_spec_mat)
             {
             //    int i;
             //    for(i=0; i<TOTAL_SIZE_SM; i++){
             //        averaged_spec_mat_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_BURST >> 8);
                 header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0] = 0xc0;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2 = 0x10;
                 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 header->sid = 0x00;
                 header->biaStatusInfo = 0x00;
                 header->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, rtems_id queue_id)
             {
                 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 =  rtems_message_queue_send( queue_id, spw_ioctl_send, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in send_spectral_matrix *** ERR %d\n", (int) status);
                     }
                 }
             }
             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(void)
             {
                 /** This function fills spectral matrices related buffers with arbitrary data.
                  *
                  *  This function is for testing purpose only.
                  *
                  */
             #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()
             {
                 /** This function resets the spectral matrices module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  *
                  * - 0x00 config
                  * - 0x04 status
                  * - 0x08 matrixF0_Address0
                  * - 0x10 matrixFO_Address1
                  * - 0x14 matrixF1_Address
                  * - 0x18 matrixF2_Address
                  *
                  */
             #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/fsw_processing_globals.c +32 -25

@@ -1,39 +1,46
		1	/** Global variables used by the processing functions.
		2	*
		3	* @file
		4	* @author P. LEROY
		5	*
		6	*/
		7
1	// TOTAL = 32 coefficients * 4 = 128 octets * 3 * 12 = 4608 octets	8	// TOTAL = 32 coefficients * 4 = 128 octets * 3 * 12 = 4608 octets
2	// SX 12 coefficients	9	// SX 12 coefficients
3	float K14_sx_re = 1;	10	float K14_sx_re = 1;
4	float K14_sx_im = 1;	11	float K14_sx_im = 1;
5	float K15_sx_re = 1;	12	float K15_sx_re = 1;
6	float K15_sx_im = 1;	13	float K15_sx_im = 1;
7	float K24_sx_re = 1;	14	float K24_sx_re = 1;
8	float K24_sx_im = 1;	15	float K24_sx_im = 1;
9	float K25_sx_re = 1;	16	float K25_sx_re = 1;
10	float K25_sx_im = 1;	17	float K25_sx_im = 1;
11	float K34_sx_re = 1;	18	float K34_sx_re = 1;
12	float K34_sx_im = 1;	19	float K34_sx_im = 1;
13	float K35_sx_re = 1;	20	float K35_sx_re = 1;
14	float K35_sx_im = 1;	21	float K35_sx_im = 1;
15	// NY 8 coefficients	22	// NY 8 coefficients
16	float K24_ny_re = 1;	23	float K24_ny_re = 1;
17	float K24_ny_im = 1;	24	float K24_ny_im = 1;
18	float K25_ny_re = 1;	25	float K25_ny_re = 1;
19	float K25_ny_im = 1;	26	float K25_ny_im = 1;
20	float K34_ny_re = 1;	27	float K34_ny_re = 1;
21	float K34_ny_im = 1;	28	float K34_ny_im = 1;
22	float K35_ny_re = 1;	29	float K35_ny_re = 1;
23	float K35_ny_im = 1;	30	float K35_ny_im = 1;
24	// NZ 8 coefficients	31	// NZ 8 coefficients
25	float K24_nz_re = 1;	32	float K24_nz_re = 1;
26	float K24_nz_im = 1;	33	float K24_nz_im = 1;
27	float K25_nz_re = 1;	34	float K25_nz_re = 1;
28	float K25_nz_im = 1;	35	float K25_nz_im = 1;
29	float K34_nz_re = 1;	36	float K34_nz_re = 1;
30	float K34_nz_im = 1;	37	float K34_nz_im = 1;
31	float K35_nz_re = 1;	38	float K35_nz_re = 1;
32	float K35_nz_im = 1;	39	float K35_nz_im = 1;
33	// PE 4 coefficients	40	// PE 4 coefficients
34	float K44_pe = 1;	41	float K44_pe = 1;
35	float K55_pe = 1;	42	float K55_pe = 1;
36	float K45_pe_re = 1;	43	float K45_pe_re = 1;
37	float K45_pe_im = 1;	44	float K45_pe_im = 1;
38		45
39	float Alpha_M = M_PI/4;	46	float Alpha_M = M_PI/4;

src/fsw_spacewire.c +287 -8

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

src/tc_handler.c +12 -516

             /** Functions and tasks related to TeleCommand handling.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands:\n
              * action launching\n
              * TC parsing\n
              * ...
              *
              */
             #include "tc_handler.h"
-            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 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)
-                /** This function generate the CRC for one byte and returns the value of the new syndrome.
-                 * @param D is the current byte of data.
-                 * @param Chk is the current syndrom value.
-                 * @return the value of the new syndrome on two bytes.
-                 */
-                return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
-            void initLookUpTableForCRC( void )
-                /** This function is used to initiates the look-up table for fast CRC computation.
-                 * The global table lookUpTableForCRC[256] is initiated.
-                 */
-                unsigned int i;
-                unsigned int tmp;
-                for (i=0; i<256; i++)
-                    tmp = 0;
-                    if((i & 1) != 0) {
-                        tmp = tmp ^ 0x1021;
-                    if((i & 2) != 0) {
-                        tmp = tmp ^ 0x2042;
-                    if((i & 4) != 0) {
-                        tmp = tmp ^ 0x4084;
-                    if((i & 8) != 0) {
-                        tmp = tmp ^ 0x8108;
-                    if((i & 16) != 0) {
-                        tmp = tmp ^ 0x1231;
-                    if((i & 32) != 0) {
-                        tmp = tmp ^ 0x2462;
-                    if((i & 64) != 0) {
-                        tmp = tmp ^ 0x48c4;
-                    if((i & 128) != 0) {
-                        tmp = tmp ^ 0x9188;
-                    lookUpTableForCRC[i] = tmp;
-            void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
-                /** This function calculates a two bytes Cyclic Redundancy Code.
-                 * @param data points to a buffer containing the data on which to compute the CRC.
-                 * @param crcAsTwoBytes points points to a two bytes buffer in which the CRC is stored.
-                 * @param sizeOfData is the number of bytes of *data* used to compute the CRC.
-                 * The specification of the Cyclic Redundancy Code is described in the following document: ECSS-E-70-41-A.
-                 */
-                unsigned int Chk;
-                int j;
-                Chk = 0xffff; // reset the syndrom to all ones
-                for (j=0; j<sizeOfData; j++) {
-                    Chk = Crc_opt(data[j], Chk);
-                crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
-                crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
-            void updateLFRCurrentMode()
-                /** This function updates the value of the global variable lfrCurrentMode.
-                 * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
-                 */
-                // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
-                lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
-            //*********************
-            // ACCEPTANCE FUNCTIONS
-            int tc_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv, rtems_id queue_recv_id, rtems_id queue_send_id)
-                /** This function executes the TeleCommand acceptance steps.
-                 * @param TC points to the TeleCommand packet which is under investigation.
-                 * @param tc_len_recv contains the length of the packet that has been received.
-                 * @param queue_recv_id is the id of the rtems queue in which messages are written if the acceptance is not successful
-                 * @param queue_send_id is the id of the rtems queue in which messages are written if the acceptance is successful
-                 * @return status code
-                 * The acceptance steps can result in two different actions.
-                 * 1. If the acceptance is successful, the TC is sent in the receiving queue for processing.
-                 * 2. If the acceptance fails, a TM packet is transmitted to report the error.
-                 */
-                int ret = 0;
-                rtems_status_code status;
-                unsigned int parserCode = 0;
-                unsigned char computed_CRC[2];
-                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) )
-                { // send TM_LFR_TC_EXE_CORRUPTED
-                    send_tm_lfr_tc_exe_corrupted( TC, queue_send_id, computed_CRC, currentTC_LEN_RCV );
-                else { // send valid TC to the action launcher
-                    status =  rtems_message_queue_send( queue_recv_id, TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
-                    ret = LFR_SUCCESSFUL;
-                return ret;
-            int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int TC_LEN_RCV)
-                /** This function parses TeleCommands.
-                 * @param TC points to the TeleCommand that will be parsed.
-                 * @param TC_LEN_RCV is the received packet length.
-                 * @return Status code of the parsing.
-                 * The parsing checks:
-                 * - process id
-                 * - category
-                 * - length: a global check is performed and a per subtype check also
-                 * - type
-                 * - subtype
-                 * - crc
-                 */
-                int status;
-                unsigned char pid;
-                unsigned char category;
-                unsigned int length;
-                unsigned char packetType;
-                unsigned char packetSubtype;
-                status = CCSDS_TM_VALID;
-                // APID check *** APID on 2 bytes
-                pid = ((TCPacket->packetID[0] & 0x07)<<4) + ( (TCPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
-                category = (TCPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
-                length = (TCPacket->packetLength[0] * 256) + TCPacket->packetLength[1];
-                packetType = TCPacket->serviceType;
-                packetSubtype = TCPacket->serviceSubType;
-                if ( pid != CCSDS_PROCESS_ID )  // CHECK THE PROCESS ID
-                    status = ILLEGAL_APID;
-                if (status == CCSDS_TM_VALID)   // CHECK THE CATEGORY
-                    if ( category != CCSDS_PACKET_CATEGORY )
-                        status = ILLEGAL_APID;
-                if (status == CCSDS_TM_VALID)   // CHECK THE PACKET LENGTH FIELD AND THE ACTUAL LENGTH COMPLIANCE
-                    if (length != TC_LEN_RCV ) {
-                        status = WRONG_LEN_PACKET;
-                if (status == CCSDS_TM_VALID)   // CHECK THAT THE PACKET DOES NOT EXCEED THE MAX SIZE
-                    if ( length >= CCSDS_TC_PKT_MAX_SIZE ) {
-                        status = WRONG_LEN_PACKET;
-                if (status == CCSDS_TM_VALID)   // CHECK THE TYPE
-                    status = tc_check_type( packetType );
-                if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE
-                    status = tc_check_subtype( packetSubtype );
-                if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE AND LENGTH COMPLIANCE
-                    status = tc_check_length( packetSubtype, length );
-                if (status == CCSDS_TM_VALID )  // CHECK CRC
-                    status = tc_check_crc( TCPacket, length );
-                return status;
-            int tc_check_type( unsigned char packetType )
-                /** This function checks that the type of a TeleCommand is valid.
-                 * @param packetType is the type to check.
-                 * @return Status code CCSDS_TM_VALID or ILL_TYPE.
-                 */
-                int status;
-                if ( (packetType == TC_TYPE_GEN) || (packetType == TC_TYPE_TIME))
-                    status = CCSDS_TM_VALID;
-                else
-                    status = ILL_TYPE;
-                return status;
-            int tc_check_subtype( unsigned char packetSubType )
-                /** This function checks that the subtype of a TeleCommand is valid.
-                 * @param packetSubType is the subtype to check.
-                 * @return Status code CCSDS_TM_VALID or ILL_SUBTYPE.
-                 */
-                int status;
-                if ( (packetSubType == TC_SUBTYPE_RESET)
-                     || (packetSubType == TC_SUBTYPE_LOAD_COMM)
-                     || (packetSubType == TC_SUBTYPE_LOAD_NORM) || (packetSubType == TC_SUBTYPE_LOAD_BURST)
-                     || (packetSubType == TC_SUBTYPE_LOAD_SBM1) || (packetSubType == TC_SUBTYPE_LOAD_SBM2)
-                     || (packetSubType == TC_SUBTYPE_DUMP)
-                     || (packetSubType == TC_SUBTYPE_ENTER)
-                     || (packetSubType == TC_SUBTYPE_UPDT_INFO) || (packetSubType == TC_SUBTYPE_UPDT_TIME)
-                     || (packetSubType == TC_SUBTYPE_EN_CAL)    || (packetSubType == TC_SUBTYPE_DIS_CAL) )
-                    status = CCSDS_TM_VALID;
-                else
-                    status = ILL_TYPE;
-                return status;
-            int tc_check_length( unsigned char packetSubType, unsigned int length )
-                /** This function checks that the subtype and the length are compliant.
-                 * @param packetSubType is the subtype to check.
-                 * @param length is the length to check.
-                 * @return Status code CCSDS_TM_VALID or ILL_TYPE.
-                 */
-                int status;
-                status = LFR_SUCCESSFUL;
-                switch(packetSubType)
-                case TC_SUBTYPE_RESET:
-                    if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_LOAD_COMM:
-                    if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_LOAD_NORM:
-                    if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_LOAD_BURST:
-                    if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_LOAD_SBM1:
-                    if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_LOAD_SBM2:
-                    if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_DUMP:
-                    if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_ENTER:
-                    if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_UPDT_INFO:
-                    if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_EN_CAL:
-                    if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_DIS_CAL:
-                    if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                case TC_SUBTYPE_UPDT_TIME:
-                    if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
-                        status = WRONG_LEN_PACKET;
-                    else {
-                        status = CCSDS_TM_VALID;
-                    break;
-                default: // if the subtype is not a legal value, return ILL_SUBTYPE
-                    status = ILL_SUBTYPE;
-                    break    ;
-                return status;
-            int tc_check_crc( ccsdsTelecommandPacket_t * TCPacket, unsigned int length )
-                /** This function checks the CRC validity of the corresponding TeleCommand packet.
-                 * @param TCPacket points to the TeleCommand packet to check.
-                 * @param length is the length of the TC packet.
-                 * @return Status code CCSDS_TM_VALID or INCOR_CHECKSUM.
-                 */
-                int status;
-                unsigned char * CCSDSContent;
-                unsigned char currentTC_COMPUTED_CRC[2];
-                CCSDSContent = (unsigned char*) TCPacket->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]) {
-                    status = INCOR_CHECKSUM;
-                else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
-                    status = INCOR_CHECKSUM;
-                else {
-                    status = CCSDS_TM_VALID;
-                return status;
             //***********
             // RTEMS TASK
-            rtems_task recv_task( rtems_task_argument unused )
-                /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
-                 * @param unused is the starting argument of the RTEMS task
-                 * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
-                 * 1. It reads the incoming data.
-                 * 2. Launches the acceptance procedure.
-                 * 3. If the Telecommand is valid, sends it to the ACTN task using an RTEMS message queue.
-                 */
-                int len = 0;
-                unsigned int i = 0;
-                ccsdsTelecommandPacket_t currentTC;
-                char data[100];
-                rtems_status_code status;
-                rtems_id queue_recv_id;
-                rtems_id queue_send_id;
-                for(i=0; i<100; i++) data[i] = 0;
-                initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
-                status =  rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_recv_id );
-                if (status != RTEMS_SUCCESSFUL)
-                    PRINTF1("in RECV *** ERR getting QUEUE_RECV id, %d\n", status)
-                status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_send_id );
-                if (status != RTEMS_SUCCESSFUL)
-                    PRINTF1("in RECV *** ERR getting QUEUE_SEND id, %d\n", status)
-                BOOT_PRINTF("in RECV *** \n")
-                while(1)
-                    len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
-                    if (len == -1){ // error during the read call
-                        PRINTF("In RECV *** last read call returned -1\n")
-                    else {
-                        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
-                            tc_acceptance(&currentTC, currentTC_LEN_RCV_AsUnsignedInt, queue_recv_id, queue_send_id);
             rtems_task actn_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                  * on the incoming TeleCommand.
                  *
                  */
                 int result;
                 rtems_status_code status;       // RTEMS status code
                 ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
                 size_t size;                    // size of the incoming TC packet
                 unsigned char subtype;          // subtype of the current TC packet
                 rtems_id queue_rcv_id;
                 rtems_id queue_snd_id;
                 status =  rtems_message_queue_ident( misc_name[QUEUE_RECV], 0, &queue_rcv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR getting queue_rcv_id %d\n", status)
                 }
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_snd_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR getting queue_snd_id %d\n", status)
                 }
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 BOOT_PRINTF("in ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
                                 result = action_reset( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
                                 result = action_load_common_par( &TC );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
                                 result = action_load_normal_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
                                 result = action_load_burst_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
                                 result = action_load_sbm1_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
                                 result = action_load_sbm2_par( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
                                 result = action_dump_par( queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
                                 result = action_enter_mode( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
                                 result = action_update_info( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_enable_calibration( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_disable_calibration( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
                                 result = action_update_time( &TC );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
-            rtems_task dumb_task( rtems_task_argument unused )
-                /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
-                 * @param unused is the starting argument of the RTEMS task
-                 * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
-                 */
-                unsigned int i;
-                unsigned int intEventOut;
-                unsigned int coarse_time = 0;
-                unsigned int fine_time = 0;
-                rtems_event_set event_out;
-                BOOT_PRINTF("in DUMB *** \n")
-                while(1){
-                    rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4 | RTEMS_EVENT_5,
-                                        RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
-                    intEventOut =  (unsigned int) event_out;
-                    for ( i=0; i<32; i++)
-                        if ( ((intEventOut >> i) & 0x0001) != 0)
-                            coarse_time = time_management_regs->coarse_time;
-                            fine_time = time_management_regs->fine_time;
-                            printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                 return LFR_DEFAULT;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 requestedMode = TC->dataAndCRC[1];
                 if ( (requestedMode != LFR_MODE_STANDBY)
                      && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                      && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                 {
                     status = RTEMS_UNSATISFIED;
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
                 }
                 else
                 {
                     printf("try to enter mode %d\n", requestedMode);
             #ifdef PRINT_TASK_STATISTICS
                     if (requestedMode != LFR_MODE_STANDBY)
                     {
                         rtems_cpu_usage_reset();
                         maxCount = 0;
                     }
             #endif
                     status = transition_validation(requestedMode);
                     if ( status == LFR_SUCCESSFUL ) {
                         if ( lfrCurrentMode != LFR_MODE_STANDBY)
                         {
                             status = stop_current_mode();
                         }
                         if (status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF("ERR *** in action_enter *** stop_current_mode\n")
                         }
                         status = enter_mode(requestedMode, TC);
                     }
                     else
                     {
                         PRINTF("ERR *** in action_enter *** transition rejected\n")
                         send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     }
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 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, queue_id );
                     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, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
                 time_management_regs->ctrl = time_management_regs->ctrl | 1;
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int transition_validation(unsigned char requestedMode)
             {
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             int stop_current_mode()
             {
                 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // mask all IRQ lines related to signal processing
                 LEON_Mask_interrupt( IRQ_SM );                  // mask spectral matrices interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_SM );                 // clear spectral matrices interrupt (coming from the timer VHDL IP)
             #ifdef GSA
                 LEON_Mask_interrupt( IRQ_WF );                  // mask waveform interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_WF );                  // clear waveform interrupt (coming from the timer VHDL IP)
                 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
             #else
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 LEON_Mask_interrupt( IRQ_SM );                  // for SM simulation
                 LEON_Clear_interrupt( IRQ_SM );                 // for SM simulation
             #endif
                 //**********************
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //*************************
                 // initialize the registers
             #ifdef GSA
             #else
                 reset_wfp_burst_enable();   // reset burst and enable bits
                 reset_wfp_status();         // reset all the status bits
             #endif
                 return status;
             }
             int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC )
             {
                 rtems_status_code status;
                 status = RTEMS_UNSATISFIED;
                 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
                 lfrCurrentMode = mode;
                 switch(mode){
                 case LFR_MODE_STANDBY:
                     status = enter_standby_mode( TC );
                     break;
                 case LFR_MODE_NORMAL:
                     status = enter_normal_mode( TC );
                     break;
                 case LFR_MODE_BURST:
                     status = enter_burst_mode( TC );
                     break;
                 case LFR_MODE_SBM1:
                     status = enter_sbm1_mode( TC );
                     break;
                 case LFR_MODE_SBM2:
                     status = enter_sbm2_mode( TC );
                     break;
                 default:
                     status = RTEMS_UNSATISFIED;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in enter_mode *** ERR\n")
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_standby_mode()
             {
                 reset_waveform_picker_regs();
                 PRINTF1("maxCount = %d\n", maxCount)
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                 rtems_stack_checker_report_usage();
             #endif
                 return LFR_SUCCESSFUL;
             }
             int enter_normal_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
             #ifdef GSA
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_WF );
                 LEON_Unmask_interrupt( IRQ_WF );
                 //
                 set_local_nb_interrupt_f0_MAX();
                 LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 //****************
                 // waveform picker
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_NORMAL);
                 //****************
                 // spectral matrix
             //    set_local_nb_interrupt_f0_MAX();
             //    LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
             //    LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
             //    spectral_matrix_regs->config = 0x01;
             //    spectral_matrix_regs->status = 0x00;
             #endif
                 return status;
             }
             int enter_burst_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_BURST);
             #endif
                 return status;
             }
             int enter_sbm1_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm1_nb_cwf_max();
                 reset_local_sbm1_nb_cwf_sent();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM1);
                 // SM simulation
             //    timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
             //    LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
             //    LEON_Unmask_interrupt( IRQ_SM );
              #endif
                 return status;
             }
             int enter_sbm2_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm2_nb_cwf_max();
                 reset_local_sbm2_nb_cwf_sent();
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM2);
             #endif
                 return status;
             }
             int restart_science_tasks()
             {
                 rtems_status_code status[6];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
                 }
                 status[1] = rtems_task_restart( Task_id[TASKID_BPF0],1 );
                 if (status[1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 1 ERR %d\n", status[1])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                      (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int suspend_science_tasks()
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = rtems_task_suspend( Task_id[TASKID_AVF0] );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend BPF0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_BPF0] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** BPF0 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
                 }
                 return status;
             }
             //****************
             // CLOSING ACTIONS
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id)
             {
                 unsigned int val = 0;
                 if (result == LFR_SUCCESSFUL)
                 {
                     if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) ) )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
                     update_last_TC_exe( TC );
                     val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
                 else
                 {
                     update_last_TC_rej( TC );
                     val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }
+            //****************
+            // OTHER FUNCTIONS
+            void updateLFRCurrentMode()
+            {
+                /** This function updates the value of the global variable lfrCurrentMode.
+                 *
+                 * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
+                 *
+                 */
+                // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
+                lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
+            }

src/tc_load_dump_parameters.c +3 0

             /** Functions to load and dump parameters in the LFR registers.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TC related to parameter loading and dumping.\n
              * TC_LFR_LOAD_COMMON_PAR\n
              * TC_LFR_LOAD_NORMAL_PAR\n
              * TC_LFR_LOAD_BURST_PAR\n
              * TC_LFR_LOAD_SBM1_PAR\n
              * TC_LFR_LOAD_SBM2_PAR\n
              *
              */
             #include "tc_load_dump_parameters.h"
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function updates the LFR registers with the incoming common parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  *
                  */
                 parameter_dump_packet.unused0 = TC->dataAndCRC[0];
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
                 set_wfp_data_shaping(parameter_dump_packet.bw_sp0_sp1_r0_r1);
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming normal parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 int flag;
                 flag = LFR_SUCCESSFUL;
                 result = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 //***************
                 // sy_lfr_n_swf_l
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_l( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_swf_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_p( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_asm_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_asm_p( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_bp_p0( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_bp_p1( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 return result;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming burst parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_BURST ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming sbm1 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM1 ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM2 ) {
                     send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_dump_par( rtems_id queue_id )
             {
                 /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                  *
                  * @param queue_id is the id of the queue which handles TM related to this execution step.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 int status;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                     PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                 }
                 return status;
             }
             //***********************
             // NORMAL MODE PARAMETERS
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int tmp;
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L+1 ];
                 tmp = ( unsigned int ) floor(
                             ( ( msb*256 ) + lsb ) / 16
                         ) * 16;
                 if ( (tmp < 16) || (tmp > 2048) )   // the snapshot period is a multiple of 16
                 {                                   // 2048 is the maximum limit due to thesize of the buffers
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_L+10, lsb );
                     result = WRONG_APP_DATA;
                 }
                 else if (tmp != 2048)
                 {
                     send_tm_lfr_tc_exe_not_implemented( TC, queue_id );
                     result = FUNCT_NOT_IMPL;
                 }
                 else
                 {
                     parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (tmp >> 8);
                     parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (tmp     );
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int set_sy_lfr_n_swf_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int tmp;
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P+1 ];
                 tmp = ( unsigned int ) floor(
                             ( ( msb*256 ) + lsb ) / 8
                         ) * 8;
                 if ( (tmp < 16) || (tmp > 65528) )
                 {
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_P+10, lsb );
                     result = WRONG_APP_DATA;
                 }
                 else
                 {
                     parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (tmp >> 8);
                     parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (tmp     );
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the time between two full spectral matrices transmission, in s (sy_lfr_n_asm_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P+1 ];
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = msb;
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = lsb;
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the time between two basic parameter sets, in s (sy_lfr_n_bp_p0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P1 ];
                 return status;
             }
             //**********************
             // BURST MODE PARAMETERS
             //*********************
             // SBM1 MODE PARAMETERS
             //*********************
             // SBM2 MODE PARAMETERS

src/wf_handler.c +69 -4

             /** Functions and tasks related to waveform packet generation.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle waveforms, in snapshot or continuous format.\n
              *
              */
             #include "wf_handler.h"
             // SWF
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F0[7];
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F1[7];
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F2[7];
             // CWF
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F1[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_BURST[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM2[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3[7];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3_light[7];
             unsigned char doubleSendCWF1 = 0;
             unsigned char doubleSendCWF2 = 0;
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
+                /** This is the interrupt sub routine called by the waveform picker core.
+                 *
+                 * This ISR launch different actions depending mainly on two pieces of information:
+                 * 1. the values read in the registers of the waveform picker.
+                 * 2. the current LFR mode.
+                 *
+                 */
             #ifdef GSA
             #else
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
                     }
                 }
             #endif
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ( (waveform_picker_regs->burst_enable & 0x7) == 0x0 ){ // if no channel is enable
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                     }
                     else {
                         if ( (waveform_picker_regs->status & 0x7) == 0x7 ){ // f2 f1 and f0 are full
                             waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable & 0x08;
                             if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                             }
                             waveform_picker_regs->status = waveform_picker_regs->status & 0x00;
                             waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable | 0x07; // [0111] enable f2 f1 f0
                         }
                    }
             #endif
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
                     }
             #endif
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x02) == 0x02){ // [0010] check the f1 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if ( param_local.local_sbm1_nb_cwf_sent == (param_local.local_sbm1_nb_cwf_max-1) )
                         {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_norm);
                         }
                         else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1_norm )
                         {
                             doubleSendCWF1 = 1;
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1 ) {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bit = 0
                     }
                     if ( ( (waveform_picker_regs->status & 0x05) == 0x05 ) ) { // [0101] check the f2 and f0 full bit
                         if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2 and f0 bits = 0
                         reset_local_sbm1_nb_cwf_sent();
                     }
             #endif
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
             #ifdef GSA
                     PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                     if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         if ( param_local.local_sbm2_nb_cwf_sent == (param_local.local_sbm2_nb_cwf_max-1) )
                         {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_norm);
                         }
                         else if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2_norm ) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                             doubleSendCWF2 = 1;
                             if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2_WFRM ) != RTEMS_SUCCESSFUL) {
                                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                             }
                             reset_local_sbm2_nb_cwf_sent();
                         }
                         else if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2 ) {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
                         }
                         else {
                             waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                     }
                     if ( ( (waveform_picker_regs->status & 0x03) == 0x03 ) ) { // [0011] f3 f2 f1 f0, f1 and f0 are full
                         if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
                     }
             #endif
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
             }
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector )
             {
+                /** This is the interrupt sub routine called by the waveform picker simulator.
+                 *
+                 * This ISR is for debug purpose only.
+                 *
+                 */
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 switch(lfrMode) {
                 case (LFR_MODE_STANDBY):
                     break;
                 case (LFR_MODE_NORMAL):
                     if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_5 );
                     }
                     break;
                 case (LFR_MODE_BURST):
                     break;
                 case (LFR_MODE_SBM1):
                     break;
                 case (LFR_MODE_SBM2):
                     break;
                 }
             }
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
+                /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
+                 *
+                 * @param unused is the starting argument of the RTEMS task
+                 *
+                 * The following data packets are sent by this task:
+                 * - TM_LFR_SCIENCE_NORMAL_SWF_F0
+                 * - TM_LFR_SCIENCE_NORMAL_SWF_F1
+                 * - TM_LFR_SCIENCE_NORMAL_SWF_F2
+                 *
+                 */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 init_header_snapshot_wf_table( SID_NORM_SWF_F0, headerSWF_F0 );
                 init_header_snapshot_wf_table( SID_NORM_SWF_F1, headerSWF_F1 );
                 init_header_snapshot_wf_table( SID_NORM_SWF_F2, headerSWF_F2 );
                 init_waveforms();
                 status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in WFRM *** ERR getting queue id, %d\n", status)
                 }
                 BOOT_PRINTF("in WFRM ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive(RTEMS_EVENT_MODE_NORMAL | RTEMS_EVENT_MODE_SBM1
                                         | RTEMS_EVENT_MODE_SBM2 | RTEMS_EVENT_MODE_SBM2_WFRM,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xf888; // [1111 1000 1000 1000] f2, f1, f0 bits =0
             #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF(wf_snap_f1_norm, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2, f0 bits = 0
             #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
             #ifdef GSA
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
             #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2_WFRM)
                     {
                         send_waveform_SWF(wf_snap_f2_norm, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                     }
                     else
                     {
                         PRINTF("in WFRM *** unexpected event")
                     }
             #ifdef GSA
                     // irq processed, reset the related register of the timer unit
                     gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl = gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl | 0x00000010;
                     // clear the interruption
                     LEON_Unmask_interrupt( IRQ_WF );
             #endif
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
+                /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
+                 *
+                 * @param unused is the starting argument of the RTEMS task
+                 *
+                 * The following data packet is sent by this task:
+                 * - TM_LFR_SCIENCE_NORMAL_CWF_F3
+                 *
+                 */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 init_header_continuous_wf_table( SID_NORM_CWF_F3, headerCWF_F3 );
                 init_header_continuous_wf3_light_table( headerCWF_F3_light );
                 queue_id = get_pkts_queue_id();
                 BOOT_PRINTF("in CWF3 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("send CWF F3 \n")
             #ifdef GSA
             #else
                     if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
                         send_waveform_CWF3_light( wf_cont_f3_bis, headerCWF_F3_light, queue_id );
                     }
                     else {
                         send_waveform_CWF3_light( wf_cont_f3, headerCWF_F3_light, queue_id );
                     }
             #endif
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
+                /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
+                 *
+                 * @param unused is the starting argument of the RTEMS task
+                 *
+                 * The following data packet is sent by this function:
+                 * - TM_LFR_SCIENCE_BURST_CWF_F2
+                 * - TM_LFR_SCIENCE_SBM2_CWF_F2
+                 *
+                 */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 init_header_continuous_wf_table( SID_BURST_CWF_F2, headerCWF_F2_BURST );
                 init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                 queue_id = get_pkts_queue_id();
                 BOOT_PRINTF("in CWF2 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         // F2
             #ifdef GSA
             #else
                         if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             send_waveform_CWF( wf_snap_f2_bis, SID_BURST_CWF_F2, headerCWF_F2_BURST, queue_id );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f2, SID_BURST_CWF_F2, headerCWF_F2_BURST, queue_id );
                         }
                     #endif
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
             #ifdef GSA
             #else
                         if (doubleSendCWF2 == 1)
                         {
                             doubleSendCWF2 = 0;
                             send_waveform_CWF( wf_snap_f2_norm, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                         }
                         else if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
                             send_waveform_CWF( wf_snap_f2_bis, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f2, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                         }
                         param_local.local_sbm2_nb_cwf_sent ++;
             #endif
                     }
                     else
                     {
                         PRINTF1("in CWF2 *** ERR mode = %d\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
+                /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
+                 *
+                 * @param unused is the starting argument of the RTEMS task
+                 *
+                 * The following data packet is sent by this function:
+                 * - TM_LFR_SCIENCE_SBM1_CWF_F1
+                 *
+                 */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 init_header_continuous_wf_table( SID_SBM1_CWF_F1, headerCWF_F1 );
                 queue_id = get_pkts_queue_id();
                 BOOT_PRINTF("in CWF1 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
             #ifdef GSA
             #else
                         if (doubleSendCWF1 == 1)
                         {
                             doubleSendCWF1 = 0;
                             send_waveform_CWF( wf_snap_f1_norm, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                         }
                         else if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {
                            send_waveform_CWF( wf_snap_f1_bis, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                         }
                         else {
                             send_waveform_CWF( wf_snap_f1, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                         }
                         param_local.local_sbm1_nb_cwf_sent ++;
             #endif
                     }
                     else
                     {
                         PRINTF1("in CWF1 *** ERR mode = %d\n", lfrCurrentMode)
                     }
                 }
             }
             //******************
             // general functions
             void init_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     //***
                     // F0
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777;     //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;    //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0x44443333;    //
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F3
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;
                 }
             }
             int init_header_snapshot_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF)
             {
                 unsigned char i;
                 for (i=0; i<7; i++)
                 {
                     headerSWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerSWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerSWF[ i ].reserved = DEFAULT_RESERVED;
                     headerSWF[ i ].userApplication = CCSDS_USER_APP;
                     headerSWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                     headerSWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     if (i == 0)
                     {
                         headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_8 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_8     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerSWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     headerSWF[ i ].pktCnt = DEFAULT_PKTCNT;  // PKT_CNT
                     headerSWF[ i ].pktNr = i+1;    // PKT_NR
                     // DATA FIELD HEADER
                     headerSWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerSWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerSWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerSWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerSWF[ i ].sid = sid;
                     headerSWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<7; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2 >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     }
                     if (i == 0)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_8 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_8     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // PKT_CNT
                     // PKT_NR
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = sid;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_wf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<7; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
                     headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                     headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     if (i == 0)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     else if (i == 6)
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_8 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_8     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8     );
                     }
                     else
                     {
                         headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
                         headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340 >> 8);
                         headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF3_LIGHT_340     );
                         headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
                         headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340     );
                     }
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = SID_NORM_CWF_F3;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             void reset_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x10002000;
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x1000f000;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0xf0001000;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x40008000;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x10002000;
                     //***
                     // F3
                     /*wf_cont_f3[ i* NB_WORDS_SWF_BLK + 0 ] = build_value(   i, i );   // v  and 1
                     wf_cont_f3[ i* NB_WORDS_SWF_BLK + 1 ] = build_value(   i, i );   // e2 and b1
                     wf_cont_f3[ i* NB_WORDS_SWF_BLK + 2 ] = build_value(   i, i );   // b2 and b3*/
                 }
             }
             int send_waveform_SWF( volatile int *waveform, unsigned int sid,
                                    Header_TM_LFR_SCIENCE_SWF_t *headerSWF, rtems_id queue_id )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 spw_ioctl_send_SWF.hlen = TM_HEADER_LEN + 4 + 12; // + 4 is for the protocole extra header, + 12 is for the auxiliary header
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_SWF.hdr = (char*) &headerSWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_SWF.dlen = 8 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_SWF.dlen = 340 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET TIME
                     headerSWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     headerSWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     headerSWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     headerSWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                     headerSWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     headerSWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
                     headerSWF[ i ].acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     headerSWF[ i ].acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     headerSWF[ i ].acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     headerSWF[ i ].acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
                     headerSWF[ i ].acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     headerSWF[ i ].acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                     // SEND PACKET
                     status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_SWF, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", sid, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                     rtems_task_wake_after(TIME_BETWEEN_TWO_SWF_PACKETS);  // 300 ms between each packet => 7 * 3 = 21 packets => 6.3 seconds
                 }
                 return ret;
             }
             int send_waveform_CWF(volatile int *waveform, unsigned int sid,
                                   Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id)
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 for (i=0; i<7; i++) // send waveform
                 {
                     int coarseTime = 0x00;
                     int fineTime = 0x00;
                     spw_ioctl_send_CWF.data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_CWF.dlen = 8 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_CWF.dlen = 340 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET TIME
                     coarseTime = time_management_regs->coarse_time;
                     fineTime = time_management_regs->fine_time;
                     headerCWF[ i ].time[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].time[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (fineTime);
                     headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     // SEND PACKET
                     if (sid == SID_NORM_CWF_F3)
                     {
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
                         rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                     }
                     else
                     {
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
                     }
                 }
                 return ret;
             }
             int send_waveform_CWF3_light(volatile int *waveform, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id)
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *sample;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< 2048; i++)
                 {
                     sample = (char*) &waveform[ i * NB_WORDS_SWF_BLK ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     ] = sample[ 0 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 ] = sample[ 1 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 ] = sample[ 2 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 ] = sample[ 3 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 ] = sample[ 4 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 ] = sample[ 5 ];
                 }
                 //*********************
                 // SEND CWF3_light DATA
                 for (i=0; i<7; i++) // send waveform
                 {
                     int coarseTime = 0x00;
                     int fineTime = 0x00;
                     spw_ioctl_send_CWF.data = (char*) &wf_cont_f3_light[ (i * 340 * NB_BYTES_CWF3_LIGHT_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     if ( i == WFRM_INDEX_OF_LAST_PACKET ) {
                         spw_ioctl_send_CWF.dlen = 8 * NB_BYTES_CWF3_LIGHT_BLK;
                     }
                     else {
                         spw_ioctl_send_CWF.dlen = 340 * NB_BYTES_CWF3_LIGHT_BLK;
                     }
                     // SET PACKET TIME
                     coarseTime = time_management_regs->coarse_time;
                     fineTime = time_management_regs->fine_time;
                     headerCWF[ i ].time[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].time[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (fineTime);
                     headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
                     headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
                     headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
                     headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
                     headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
                     headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
                     // SEND PACKET
                     status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", SID_NORM_CWF_F3, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                     rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                 }
                 return ret;
             }
             //**************
             // wfp registers
             void set_wfp_data_shaping()
             {
                 /** This function sets the data_shaping register of the waveform picker module.
                  *
                  * The value is read from one field of the parameter_dump_packet structure:\n
                  * bw_sp0_sp1_r0_r1
                  *
                  */
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.bw_sp0_sp1_r0_r1;
             #ifdef GSA
             #else
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x10) >> 4 )     // BW
                         + ( (data_shaping & 0x08) >> 2 )     // SP0
                         + ( (data_shaping & 0x04)      )     // SP1
                         + ( (data_shaping & 0x02) << 2 )     // R0
                         + ( (data_shaping & 0x01) << 4 );    // R1
             #endif
             }
             char set_wfp_delta_snapshot()
             {
                 /** This function sets the delta_snapshot register of the waveform picker module.
                  *
-                 * The value is read from two (unsigned char) of the parameter_dump_packet structure:\n
+                 * The value is read from two (unsigned char) of the parameter_dump_packet structure:
-                 * sy_lfr_n_swf_p[0] \n
+                 * - sy_lfr_n_swf_p[0]
-                 * sy_lfr_n_swf_p[1]
+                 * - sy_lfr_n_swf_p[1]
                  *
                  */
                 char ret;
                 unsigned int delta_snapshot;
                 unsigned int aux;
                 aux = 0;
                 ret = LFR_DEFAULT;
                 delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
             #ifdef GSA
             #else
                 if ( delta_snapshot < MIN_DELTA_SNAPSHOT )
                 {
                     aux = MIN_DELTA_SNAPSHOT;
                     ret = LFR_DEFAULT;
                 }
                 else
                 {
                     aux = delta_snapshot ;
                     ret = LFR_SUCCESSFUL;
                 }
-                waveform_picker_regs->delta_snapshot = aux;             // max 2 bytes
+                waveform_picker_regs->delta_snapshot = aux - 1;             // max 2 bytes
             #endif
                 return ret;
             }
             void set_wfp_burst_enable_register( unsigned char mode)
             {
                 /** This function sets the waveform picker burst_enable register depending on the mode.
                  *
                  * @param mode is the LFR mode to launch.
                  *
                  * The burst bits shall be before the enable bits.
                  *
                  */
             #ifdef GSA
             #else
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case(LFR_MODE_NORMAL):
                     waveform_picker_regs->burst_enable = 0x00;  // [0000 0000] no burst enable
                     waveform_picker_regs->burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x04; // [0100] enable f2
                     break;
                 case(LFR_MODE_SBM1):
                     waveform_picker_regs->burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     waveform_picker_regs->burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             #endif
             }
             void reset_wfp_burst_enable()
             {
                 /** This function resets the waveform picker burst_enable register.
                  *
                  * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                  *
                  */
             #ifdef GSA
             #else
                 waveform_picker_regs->burst_enable = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_wfp_status()
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
             #ifdef GSA
             #else
                 waveform_picker_regs->status = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             #endif
             }
             void reset_waveform_picker_regs()
             {
                 /** This function resets the waveform picker module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  * - 0x00 data_shaping
                  * - 0x04 burst_enable
                  * - 0x08 addr_data_f0
                  * - 0x0C addr_data_f1
                  * - 0x10 addr_data_f2
                  * - 0x14 addr_data_f3
                  * - 0x18 status
                  * - 0x1C delta_snapshot
                  * - 0x20 delta_f2_f1
                  * - 0x24 delta_f2_f0
                  * - 0x28 nb_burst
                  * - 0x2C nb_snapshot
                  *
                  */
             #ifdef GSA
             #else
                 set_wfp_data_shaping();
                 reset_wfp_burst_enable();
                 waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0);    //
                 waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);    //
                 waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);    //
                 waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);    //
                 set_wfp_delta_snapshot();                           // time in seconds between two snapshots
                 waveform_picker_regs->delta_f2_f1 = 0xffff;         // 0x16800 => 92160 (max 4 bytes)
                 waveform_picker_regs->delta_f2_f0 = 0x17c00;        // 97 280 (max 5 bytes)
                 waveform_picker_regs->nb_burst_available = 0x180;   // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets)
                 waveform_picker_regs->nb_snapshot_param = 0x7ff;    // max 3 octets, 2048 - 1
                 waveform_picker_regs->status = 0x00;                //
             #endif
             }
             //*****************
             // local parameters
             void set_local_sbm1_nb_cwf_max()
             {
                 /** This function sets the value of the sbm1_nb_cwf_max local parameter.
                  *
                  * The sbm1_nb_cwf_max parameter counts the number of CWF_F1 records that have been sent.\n
                  * This parameter is used to send CWF_F1 data as normal data when the SBM1 is active.\n\n
                  * (2 snapshots of 2048 points per seconds) * (period of the NORM snashots) - 8 s (duration of the f2 snapshot)
                  *
                  */
                 param_local.local_sbm1_nb_cwf_max = 2 *
                         (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1]) - 8; // 16 CWF1 parts during 1 SWF2
             }
             void set_local_sbm2_nb_cwf_max()
             {
                 /** This function sets the value of the sbm1_nb_cwf_max local parameter.
                  *
                  * The sbm1_nb_cwf_max parameter counts the number of CWF_F1 records that have been sent.\n
                  * This parameter is used to send CWF_F2 data as normal data when the SBM2 is active.\n\n
                  * (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)
                  *
                  */
                 param_local.local_sbm2_nb_cwf_max = (parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1]) / 8;
             }
             void set_local_nb_interrupt_f0_MAX()
             {
                 /** This function sets the value of the nb_interrupt_f0_MAX local parameter.
                  *
                  * This parameter is used for the SM validation only.\n
                  * The software waits param_local.local_nb_interrupt_f0_MAX interruptions from the spectral matrices
                  * module before launching a basic processing.
                  *
                  */
                 param_local.local_nb_interrupt_f0_MAX = ( (parameter_dump_packet.sy_lfr_n_asm_p[0]) * 256
                         + parameter_dump_packet.sy_lfr_n_asm_p[1] ) * 100;
             }
             void reset_local_sbm1_nb_cwf_sent()
             {
                 /** This function resets the value of the sbm1_nb_cwf_sent local parameter.
                  *
                  * The sbm1_nb_cwf_sent parameter counts the number of CWF_F1 records that have been sent.\n
                  * This parameter is used to send CWF_F1 data as normal data when the SBM1 is active.
                  *
                  */
                 param_local.local_sbm1_nb_cwf_sent = 0;
             }
             void reset_local_sbm2_nb_cwf_sent()
             {
                 /** This function resets the value of the sbm2_nb_cwf_sent local parameter.
                  *
                  * The sbm2_nb_cwf_sent parameter counts the number of CWF_F2 records that have been sent.\n
                  * This parameter is used to send CWF_F2 data as normal data when the SBM2 mode is active.
                  *
                  */
                 param_local.local_sbm2_nb_cwf_sent = 0;
             }
+            rtems_id get_pkts_queue_id( void )
+            {
+                rtems_id queue_id;
+                rtems_status_code status;
+                status =  rtems_message_queue_ident( misc_name[QUEUE_SEND], 0, &queue_id );
+                if (status != RTEMS_SUCCESSFUL)
+                {
+                    PRINTF1("in get_pkts_queue_id *** ERR %d\n", status)
+                }
+                return queue_id;
+            }

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