HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r22:c4e2ba2dd2be

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FSW-qt/Makefile +7 -7

             #############################################################################
-            # Makefile for building: bin/fsw$(SW_VERSION)
+            # Makefile for building: bin/fsw-gsa
-            # Generated by qmake (2.01a) (Qt 4.8.4) on: Fri Jun 14 07:50:58 2013
+            # Generated by qmake (2.01a) (Qt 4.8.4) on: Tue Jun 18 14:00:55 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=4 -DPRINT_MESSAGES_ON_CONSOLE
+            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=5 -DPRINT_MESSAGES_ON_CONSOLE -DGSA
             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
             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
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
             		fsw-qt.pro
-            QMAKE_TARGET  = fsw$(SW_VERSION)
+            QMAKE_TARGET  = fsw-gsa
             DESTDIR       = bin/
-            TARGET        = bin/fsw$(SW_VERSION)
+            TARGET        = bin/fsw-gsa
             first: all
             ####### Implicit rules
             .SUFFIXES: .o .c .cpp .cc .cxx .C
             .cpp.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cc.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cxx.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .C.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .c.o:
             	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
             ####### Build rules
             all: Makefile $(TARGET)
             $(TARGET):  $(OBJECTS)
             	@$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
             	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
             Makefile: fsw-qt.pro  /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
             	$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             /usr/lib64/qt4/mkspecs/common/unix.conf:
             /usr/lib64/qt4/mkspecs/common/linux.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
             /usr/lib64/qt4/mkspecs/common/g++-base.conf:
             /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
             /usr/lib64/qt4/mkspecs/qconfig.pri:
             /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
             /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
             /usr/lib64/qt4/mkspecs/features/qt_config.prf:
             /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
             /usr/lib64/qt4/mkspecs/features/default_pre.prf:
             sparc.pri:
             /usr/lib64/qt4/mkspecs/features/release.prf:
             /usr/lib64/qt4/mkspecs/features/default_post.prf:
             /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
             /usr/lib64/qt4/mkspecs/features/warn_on.prf:
             /usr/lib64/qt4/mkspecs/features/resources.prf:
             /usr/lib64/qt4/mkspecs/features/uic.prf:
             /usr/lib64/qt4/mkspecs/features/yacc.prf:
             /usr/lib64/qt4/mkspecs/features/lex.prf:
             /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
             qmake:  FORCE
             	@$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             dist:
-            	@$(CHK_DIR_EXISTS) obj/fsw$(SW_VERSION)1.0.0 || $(MKDIR) obj/fsw$(SW_VERSION)1.0.0
+            	@$(CHK_DIR_EXISTS) obj/fsw-gsa1.0.0 || $(MKDIR) obj/fsw-gsa1.0.0
-            	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw$(SW_VERSION)1.0.0/ && (cd `dirname obj/fsw$(SW_VERSION)1.0.0` && $(TAR) fsw$(SW_VERSION)1.0.0.tar fsw$(SW_VERSION)1.0.0 && $(COMPRESS) fsw$(SW_VERSION)1.0.0.tar) && $(MOVE) `dirname obj/fsw$(SW_VERSION)1.0.0`/fsw$(SW_VERSION)1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw$(SW_VERSION)1.0.0
+            	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw-gsa1.0.0/ && (cd `dirname obj/fsw-gsa1.0.0` && $(TAR) fsw-gsa1.0.0.tar fsw-gsa1.0.0 && $(COMPRESS) fsw-gsa1.0.0.tar) && $(MOVE) `dirname obj/fsw-gsa1.0.0`/fsw-gsa1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw-gsa1.0.0
             clean:compiler_clean
             	-$(DEL_FILE) $(OBJECTS)
             	-$(DEL_FILE) *~ core *.core
             ####### Sub-libraries
             distclean: clean
             	-$(DEL_FILE) $(TARGET)
             	-$(DEL_FILE) Makefile
             grmon:
             	cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
             check: first
             compiler_rcc_make_all:
             compiler_rcc_clean:
             compiler_uic_make_all:
             compiler_uic_clean:
             compiler_image_collection_make_all: qmake_image_collection.cpp
             compiler_image_collection_clean:
             	-$(DEL_FILE) qmake_image_collection.cpp
             compiler_yacc_decl_make_all:
             compiler_yacc_decl_clean:
             compiler_yacc_impl_make_all:
             compiler_yacc_impl_clean:
             compiler_lex_make_all:
             compiler_lex_clean:
             compiler_clean:
             ####### Compile
             obj/wf_handler.o: ../src/wf_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
             obj/tc_handler.o: ../src/tc_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
             obj/fsw_processing.o: ../src/fsw_processing.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/fsw binary modified 0 0

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FSW-qt/bin/fsw-gsa binary modified 0 0

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FSW-qt/fsw-qt.pro +4 -4

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options = verbose *** cpu_usage_report *** gsa
-            CONFIG += console verbose
+            CONFIG += console verbose gsa
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
-            SW_VERSION=-0-5
+            SWVERSION=-0-5
             DEFINES += SW_VERSION_N1=0
             DEFINES += SW_VERSION_N2=0
             DEFINES += SW_VERSION_N3=0
             DEFINES += SW_VERSION_N4=5
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
-            TARGET = fsw$(SW_VERSION)
+            TARGET = fsw
             contains( CONFIG, gsa ) {
                 DEFINES += GSA
-                TARGET = fsw-gsa$(SW_VERSION)
+                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
             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

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

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by Qt Creator 2.4.1, 2013-06-17T15:56:28. -->
+            <!-- Written by Qt Creator 2.4.1, 2013-06-18T14:38:28. -->
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                 <value type="QString" key="language">Cpp</value>
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                  <value type="QString" key="CurrentPreferences">CppGlobal</value>
                 </valuemap>
                </valuemap>
                <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
                 <value type="QString" key="language">QmlJS</value>
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header/tc_handler.h +2 -3

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <bsp.h>        // for the LEON_Unmask_interrupt function
             #include <stdio.h>
             #include <unistd.h>     // for the read call
             #include <sys/ioctl.h>  // for the ioctl call
             #include <ccsds_types.h>
             #include <grspw.h>
             #include <fsw_init.h>
             extern int fdSPW;
             extern rtems_name misc_name[ ];
             extern rtems_name misc_id[ ];
             extern rtems_id Task_id[ ];         // array of task ids
             // MODE PARAMETERS
             extern struct param_common_str param_common;
             extern struct param_norm_str param_norm;
             extern struct param_sbm1_str param_sbm1;
             extern struct param_sbm2_str param_sbm2;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern time_management_regs_t *time_management_regs;
             extern waveform_picker_regs_t *waveform_picker_regs;
             extern gptimer_regs_t         *gptimer_regs;
             //****
             // ISR
             rtems_isr commutation_isr1( rtems_vector_number vector );
             rtems_isr commutation_isr2( rtems_vector_number vector );
             //**********************
             // GENERAL USE FUNCTIONS
             void initLookUpTableForCRC( void );
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
             //*********************
             // ACCEPTANCE FUNCTIONS
             unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int tc_len_recv);
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                           unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader);
             unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC);
             int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV);
             //***********
             // 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 );
             int create_message_queue( void );
             //***********
             // TC ACTIONS
             int action_default(ccsdsTelecommandPacket_t *TC);
             int action_default_alt(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC);
             //
             int stop_current_mode();
             int enter_normal_mode();
+            int enter_burst_mode();
             int enter_sbm1_mode();
+            int enter_sbm2_mode();
             int action_load_comm(ccsdsTelecommandPacket_t *TC);
             int action_load_norm(ccsdsTelecommandPacket_t *TC);
             int action_enter(ccsdsTelecommandPacket_t *TC);
             int action_updt_time(ccsdsTelecommandPacket_t *TC);
             //
             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_status_code restart_if_needed(rtems_id id);
-            rtems_status_code suspend_if_needed(rtems_id id);
             #endif // TC_HANDLER_H_INCLUDED

header/wf_handler.h +1 -1

             #ifndef WF_HANDLER_H_INCLUDED
             #define WF_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <fsw_params.h>
             #include <grspw.h>
             #include <grlib_regs.h>
             #include <ccsds_types.h>
             #include <stdio.h>
             #include <fsw_init.h>
             #include <math.h>
             #define pi 3.1415
             //#include <sys/ioctl.h>
             extern rtems_id Task_id[];         /* array of task ids */
             extern int fdSPW;
             extern volatile int wf_snap_f0[ ];
             extern volatile int wf_snap_f1[ ];
             extern volatile int wf_snap_f1_bis[ ];
             extern volatile int wf_snap_f2[ ];
+            extern volatile int wf_snap_f2_bis[ ];
             extern volatile int wf_cont_f3[ ];
             extern waveform_picker_regs_t *waveform_picker_regs;
             rtems_isr waveforms_isr( rtems_vector_number vector );
-            rtems_isr waveforms_isr_alternative( rtems_vector_number vector );
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector );
             rtems_task wfrm_task(rtems_task_argument argument);
             //******************
             // general functions
             void init_waveforms( void );
             void reset_waveforms( void );
             void send_waveform( ExtendedTMHeader_t *header, volatile int *waveform, unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send);
             void init_waveform_picker_regs();
             void set_data_shaping_parameters(unsigned char parameters);
             int build_value(int value1, int value0);
             #endif // WF_HANDLER_H_INCLUDED

src/fsw_globals.c +1 0

             #include <fsw_processing.h>
             #include <rtems.h>
             #include <ccsds_types.h>
             // RTEMS GLOBAL VARIABLES
             rtems_name misc_name[5];
             rtems_name misc_id[5];
             rtems_id   Task_id[15];         /* array of task ids */
             rtems_name Task_name[15];       /* array of task names */
             int fdSPW = 0;
             int fdUART = 0;
             spectral_matrices_regs_t *spectral_matrices_regs = NULL;
             // APB CONFIGURATION REGISTERS
             time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT;
             waveform_picker_regs_t *waveform_picker_regs = (waveform_picker_regs_t*) REGS_ADDR_WAVEFORM_PICKER;
             gptimer_regs_t         *gptimer_regs         = (gptimer_regs_t *)        REGS_ADDR_GPTIMER;
             // 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_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_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             // SPECTRAL MATRICES GLOBAL VARIABLES
             volatile int spec_mat_f0_a[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_b[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_c[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_d[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_e[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_f[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_g[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_h[ TOTAL_SIZE_SPEC_MAT ];
             //
             float averaged_spec_mat_f0[ TOTAL_SIZE_SPEC_MAT ];
             float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ];
             // MODE PARAMETERS
             struct param_common_str param_common;
             struct param_norm_str param_norm;
             struct param_burst_str param_burst;
             struct param_sbm1_str param_sbm1;
             struct param_sbm2_str param_sbm2;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
             // BASIC PARAMETERS GLOBAL VARIABLES
             unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_MATRIX_f0 * 9 ];
             BP1_t data_BP1[ NB_BINS_COMPRESSED_MATRIX_f0 ];

src/fsw_init.c +4 -3

             //*************************
             // 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 15
             #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 100
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
             #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>
             char *lstates[6] = {"Error-reset",
                                 "Error-wait",
                                 "Ready",
                                 "Started",
                                 "Connecting",
                                 "Run"
             };
             rtems_task Init( rtems_task_argument ignored )
             {
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 PRINTF("\n\n\n\n\n")
                 PRINTF("***************************\n")
                 PRINTF("** START Flight Software **\n")
                 PRINTF("***************************\n")
                 PRINTF("\n\n")
                 //send_console_outputs_on_serial_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 initLookUpTableForCRC(); // in tc_handler.h
                 init_default_mode_parameters();
                 init_housekeeping_parameters();
                 create_message_queue();
-                create_names();
+                create_names();         // create all names
-                create_all_tasks();
+                create_all_tasks();     // create all tasks
-                start_all_tasks();
+                start_all_tasks();      // start all tasks
+                stop_current_mode();    // go in STANDBY mode
                 grspw_timecode_callback = &timecode_irq_handler;
                 configure_spw_link();
                 //****************************
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
                 //**********
                 // WAVEFORMS
                 // simulator
             #ifdef GSA
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_simulator_isr );
             #else
                 // configure the registers of the waveform picker
                 init_waveform_picker_regs();
                 // configure the waveform picker interrupt service routine
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
             #endif
                 //**********
                 //*****************************************
                 // irq handling of the time management unit
                 status = rtems_interrupt_catch( commutation_isr1,
                                                IRQ_SPARC_TIME1,
                                                &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status==RTEMS_SUCCESSFUL) {
                     PRINTF("OK  *** commutation_isr1 *** rtems_interrupt_catch successfullly configured\n")
                 }
                 status = rtems_interrupt_catch( commutation_isr2,
                                                IRQ_SPARC_TIME2,
                                                &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status==RTEMS_SUCCESSFUL) {
                     PRINTF("OK  *** commutation_isr2 *** rtems_interrupt_catch successfullly configured\n")
                 }
                 LEON_Unmask_interrupt( IRQ_TIME1 );
                 LEON_Unmask_interrupt( IRQ_TIME2 );
             #ifdef GSA
                 //if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                 //    printf("in INIT *** Error sending event to WFRM\n");
                 //}
             #endif
                 status = rtems_task_delete(RTEMS_SELF);
             }
             rtems_task spiq_task(rtems_task_argument unused)
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 while(true){
                     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
                     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")
                     }
                     configure_spw_link();
                     status = rtems_task_restart( Task_id[TASKID_HOUS], 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status)
                     }
                     if (rtems_task_restart(Task_id[TASKID_RECV], 1)!=RTEMS_SUCCESSFUL) {    // restart RECV task
                         PRINTF("in SPIQ *** Error restarting RECV Task\n")
                     }
                 }
             }
             void init_default_mode_parameters(void)
             {
                 // COMMON PARAMETERS
                 param_common.sy_lfr_common0 = 0x00;
                 param_common.sy_lfr_common1 = 0x10; // default value 0 0 0 1 0 0 0 0
                 // NORMAL MODE
                 param_norm.sy_lfr_n_swf_l = 2048;   // nb sample
                 param_norm.sy_lfr_n_swf_p = 300;    // sec
                 param_norm.sy_lfr_n_asm_p = 3600;   // sec
                 param_norm.sy_lfr_n_bp_p0 = 4;      // sec
                 param_norm.sy_lfr_n_bp_p1 = 20;     // sec
                 // BURST MODE
                 param_burst.sy_lfr_b_bp_p0 = 1;     // sec
                 param_burst.sy_lfr_b_bp_p1 = 5;     // sec
                 // SBM1 MODE
                 param_sbm1.sy_lfr_s1_bp_p0 = 1;     // sec
                 param_sbm1.sy_lfr_s1_bp_p1 = 1;     // sec
                 // SBM2 MODE
                 param_sbm2.sy_lfr_s2_bp_p0 = 1;     // sec
                 param_sbm2.sy_lfr_s2_bp_p0 = 5;     // sec
             }
             void init_housekeeping_parameters(void)
             {
                 unsigned int i = 0;
                 unsigned int j = 0;
                 unsigned int k = 0;
                 char *parameters;
                 parameters = (char*) &housekeeping_packet.lfr_status_word;
                 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = 0x00;
                 housekeeping_packet.lfr_status_word[1] = 0x00;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init sequence counters
                 for (i = 0; i<SEQ_CNT_NB_PID; i++)
                 {
                     for(j = 0; j<SEQ_CNT_NB_CAT; j++)
                     {
                         for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
                         {
                             sequenceCounters[i][j][k] = 0x00;
                         }
                     }
                 }
             }
             int create_names( void )
             {
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 // rate monotonic period name
                 HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
                 return 0;
             }
             int create_all_tasks( void )
             {
                 rtems_status_code status;
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 // ACTN
                 status = rtems_task_create(
                     Task_name[TASKID_ACTN], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN]
                 );
                 // SPIQ
                 status = rtems_task_create(
                     Task_name[TASKID_SPIQ], 5, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                 );
                 // SMIQ
                 status = rtems_task_create(
                     Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
                 );
                 // STAT
                 status = rtems_task_create(
                     Task_name[TASKID_STAT], 150, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                 );
                 // AVF0
                 status = rtems_task_create(
                     Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                 );
                 // BPF0
                 status = rtems_task_create(
                     Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
                 );
                 // WFRM
                 status = rtems_task_create(
                     Task_name[TASKID_WFRM], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                 );
                 // DUMB
                 status = rtems_task_create(
                     Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                 );
                 // HOUS
                 status = rtems_task_create(
                     Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                 );
                 return 0;
             }
             int start_all_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_SPIQ\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_RECV\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_ACTN\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_BPPR\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_STAT\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_AVF0\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_BPF0\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_WFRM\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_DUMB\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("In INIT *** Error starting TASK_HOUS\n")
                 }
                 return 0;
             }
             int configure_spw_link( void )
             {
                 rtems_status_code status;
                 close(fdSPW); // close the device if it is already open
                 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
                 if (fdSPW<0) PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
                 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != 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")
                     rtems_task_wake_after(100);
                 }
                 PRINTF("OK  *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
                 configure_spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force
                 configure_spacewire_set_RE(1, REGS_ADDR_GRSPW); // 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, 1);          // 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_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);
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                 PRINTF("OK  *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
                 return RTEMS_SUCCESSFUL;
             }
             void configure_spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force
             {
                 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 configure_spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable
             {
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
             {
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                 return status;
             }
             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 +86 -59

             #include <tc_handler.h>
             #include <fsw_params.h>
             char *DumbMessages[5] = {"in DUMB *** default",
                                 "in DUMB *** timecode_irq_handler",
                                 "in DUMB *** waveforms_isr",
                                 "",
                                 ""
             };
             unsigned char currentTC_LEN_RCV[2]; //  SHALL be equal to the current TC packet estimated packet length field
             unsigned char currentTC_COMPUTED_CRC[2];
             unsigned int currentTC_LEN_RCV_AsUnsignedInt;
             unsigned int currentTM_length;
             unsigned char currentTC_processedFlag;
             unsigned int lookUpTableForCRC[256];
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void initLookUpTableForCRC( void )
             {
                 unsigned int i;
                 unsigned int tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) {
                         tmp = tmp ^ 0x1021;
                     }
                     if((i & 2) != 0) {
                         tmp = tmp ^ 0x2042;
                     }
                     if((i & 4) != 0) {
                         tmp = tmp ^ 0x4084;
                     }
                     if((i & 8) != 0) {
                         tmp = tmp ^ 0x8108;
                     }
                     if((i & 16) != 0) {
                         tmp = tmp ^ 0x1231;
                     }
                     if((i & 32) != 0) {
                         tmp = tmp ^ 0x2462;
                     }
                     if((i & 64) != 0) {
                         tmp = tmp ^ 0x48c4;
                     }
                     if((i & 128) != 0) {
                         tmp = tmp ^ 0x9188;
                     }
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
             {
                 int ret = 0;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TMHeader_t TM_header;
                 unsigned int code = 0;
                 unsigned char computed_CRC[2];
                 char data[ TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
                 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
                 code = acceptTM( TC, tc_len_recv ) ;
                 if ( (code == ILLEGAL_APID) | (code == WRONG_LEN_PACKET) | (code == INCOR_CHECKSUM)
                     | (code == ILL_TYPE) | (code == ILL_SUBTYPE) | (code == WRONG_APP_DATA) )
                 { // generate TM_LFR_TC_EXE_CORRUPTED
                     // BUILD HEADER
                     TM_build_header( TM_LFR_TC_EXE_ERR, TM_LEN_EXE_CORR, 0, 0, &TM_header);
                     // BUILD DATA
                     TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
                     // PREPARE TM SENDING
                     spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                     spw_ioctl_send.hdr = (char*) &TM_header;
                     spw_ioctl_send.dlen = 16;
                     spw_ioctl_send.data = data;
                     // SEND PACKET
                     write_spw(&spw_ioctl_send);
                 }
                 else { // send valid TC to the action launcher
                     status =  rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
                     ret = -1;
                 }
                 return ret;
             }
             unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
             {
                 unsigned char ret = 0;
                 unsigned char pid = 0;
                 unsigned char category = 0;
                 unsigned int length = 0;
                 unsigned char packetType = 0;
                 unsigned char packetSubtype = 0;
                 unsigned char * CCSDSContent = NULL;
                 // APID check *** APID on 2 bytes
                 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category = (TMPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1];
                 packetType = TMPacket->dataFieldHeader[1];
                 packetSubtype = TMPacket->dataFieldHeader[2];
                 if (pid!=CCSDS_PROCESS_ID) {
                     ret = ILLEGAL_APID;
                 }
                 else if (category!=CCSDS_PACKET_CATEGORY) {
                     ret = ILLEGAL_APID;
                 }
                 else if (length != TC_LEN_RCV ) {   // packet length check
                     ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
                 }
                 else if (length >= CCSDS_TC_PKT_MAX_SIZE) {
                     ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
                 }
                 else if (packetType == TC_TYPE_GEN){ // service type, subtype and packet length check
                     switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
                         case TC_SUBTYPE_RESET:
                             if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_COMM:
                             if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_NORM:
                             if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_BURST:
                             if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_SBM1:
                             if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_SBM2:
                             if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_DUMP:
                             if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_ENTER:
                             if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_UPDT_INFO:
                             if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_EN_CAL:
                             if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_DIS_CAL:
                             if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         default:
                             ret = ILL_SUBTYPE;
                             break;
                     }
                 }
                 else if (packetType == TC_TYPE_TIME){
                     if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) {
                         ret = ILL_SUBTYPE;
                     }
                     else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
                         ret = WRONG_LEN_PACKET;
                     }
                     else {
                         ret = CCSDS_TM_VALID;
                     }
                 }
                 else {
                     ret = ILL_TYPE;
                 }
                 // source ID check // Source ID not documented in the ICD
                 // packet error control, CRC check
                 if ( ret == CCSDS_TM_VALID ) {
                     CCSDSContent = (unsigned char*) TMPacket->packetID;
                     GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                     if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
                         ret = INCOR_CHECKSUM;
                     }
                     else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
                         ret = INCOR_CHECKSUM;
                     }
                     else {
                         ret = CCSDS_TM_VALID;
                     }
                 }
                 return ret;
             }
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                           unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
             {
                 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TMHeader->protocolIdentifier = 0x02;
                 TMHeader->reserved = 0x00;
                 TMHeader->userApplication = 0x00;
                 TMHeader->packetID[0] = 0x0c;
                 TMHeader->packetSequenceControl[0] = 0xc0;
                 TMHeader->packetSequenceControl[1] = 0x00;
                 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
                 TMHeader->packetLength[1] = (unsigned char) packetLength;
                 TMHeader->dataFieldHeader[0] = 0x10;
                 TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
                 switch (tm_type){
                     case(TM_LFR_TC_EXE_OK):
                         TMHeader->packetID[1] = 0xc1;
                         TMHeader->dataFieldHeader[1] = 1; // type
                         TMHeader->dataFieldHeader[2] = 7; // subtype
                         break;
                     case(TM_LFR_TC_EXE_ERR):
                         TMHeader->packetID[1] = 0xc1;
                         TMHeader->dataFieldHeader[1] = 1; // type
                         TMHeader->dataFieldHeader[2] = 8; // subtype
                         break;
                     case(TM_LFR_HK):
                         TMHeader->packetID[1] = 0xc4;
                         TMHeader->dataFieldHeader[1] = 3;  // type
                         TMHeader->dataFieldHeader[2] = 25; // subtype
                         break;
                     case(TM_LFR_SCI):
                         TMHeader->packetID[1] = 0xcc;
                         TMHeader->dataFieldHeader[1] = 21;  // type
                         TMHeader->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_SCI_SBM):
                         TMHeader->packetID[1] = 0xfc;
                         TMHeader->dataFieldHeader[1] = 21;  // type
                         TMHeader->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_PAR_DUMP):
                         TMHeader->packetID[1] = 0xc9;
                         TMHeader->dataFieldHeader[1] = 181;  // type
                         TMHeader->dataFieldHeader[2] = 31; // subtype
                         break;
                     default:
                         return 0;
                 }
                 TMHeader->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TMHeader->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TMHeader->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TMHeader->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
                 TMHeader->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
                 TMHeader->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
                 return 1;
             }
             unsigned char TM_build_header_bis( enum TM_TYPE tm_type, unsigned int packetLength,
                                           unsigned int coarseTime, unsigned int fineTime, Packet_TM_LFR_TC_EXE_t *packet)
             {
                 packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 packet->protocolIdentifier = 0x02;
                 packet->reserved = 0x00;
                 packet->userApplication = 0x00;
                 packet->packetID[0] = 0x0c;
                 packet->packetSequenceControl[0] = 0xc0;
                 packet->packetSequenceControl[1] = 0x00;
                 packet->packetLength[0] = (unsigned char) (packetLength>>8);
                 packet->packetLength[1] = (unsigned char) packetLength;
                 packet->dataFieldHeader[0] = 0x10;
                 packet->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
                 switch (tm_type){
                     case(TM_LFR_TC_EXE_OK):
                         packet->packetID[1] = 0xc1;
                         packet->dataFieldHeader[1] = 1; // type
                         packet->dataFieldHeader[2] = 7; // subtype
                         break;
                     case(TM_LFR_TC_EXE_ERR):
                         packet->packetID[1] = 0xc1;
                         packet->dataFieldHeader[1] = 1; // type
                         packet->dataFieldHeader[2] = 8; // subtype
                         break;
                     case(TM_LFR_HK):
                         packet->packetID[1] = 0xc4;
                         packet->dataFieldHeader[1] = 3;  // type
                         packet->dataFieldHeader[2] = 25; // subtype
                         break;
                     case(TM_LFR_SCI):
                         packet->packetID[1] = 0xcc;
                         packet->dataFieldHeader[1] = 21;  // type
                         packet->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_SCI_SBM):
                         packet->packetID[1] = 0xfc;
                         packet->dataFieldHeader[1] = 21;  // type
                         packet->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_PAR_DUMP):
                         packet->packetID[1] = 0xc9;
                         packet->dataFieldHeader[1] = 181;  // type
                         packet->dataFieldHeader[2] = 31; // subtype
                         break;
                     default:
                         return 0;
                 }
                 packet->dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
                 packet->dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
                 packet->dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
                 packet->dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
                 packet->dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
                 packet->dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
                 return 1;
             }
             unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
             {
                 unsigned int packetLength;
                 packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];
                 switch (SID){
                     case (SID_NOT_EXE):
                         break;
                     case (SID_NOT_IMP):
                         data[0] = 0x9c;
                         data[1] = 0x42;
                         data[2] = TC->packetID[0];
                         data[3] = TC->packetID[1];
                         data[4] = TC->packetSequenceControl[0];
                         data[5] = TC->packetSequenceControl[1];
                         data[6] = TC->dataFieldHeader[1]; // type
                         data[7] = TC->dataFieldHeader[2]; // subtype
                         break;
                     case (SID_EXE_ERR):
                         break;
                     case (SID_EXE_CORR):
                         data[0] = 0x9c;
                         data[1] = 0x45;
                         data[2] = TC->packetID[0];
                         data[3] = TC->packetID[1];
                         data[4] = TC->packetSequenceControl[0];
                         data[5] = TC->packetSequenceControl[1];
                         data[6] = TC->dataFieldHeader[1]; // type
                         data[7] = TC->dataFieldHeader[2]; // subtype
                         data[8] = currentTC_LEN_RCV[0];
                         data[9] = currentTC_LEN_RCV[1];
                         data[10] = TC->packetLength[0];
                         data[11] = TC->packetLength[1];
                         data[12] = TC->dataAndCRC[packetLength];
                         data[13] = TC->dataAndCRC[packetLength+1];
                         data[14] = computed_CRC[0];
                         data[15] = computed_CRC[1];
                         break;
                     default:
                         return 0;
                 }
                 return 1;
             }
             int create_message_queue( void )
             {
                 rtems_status_code status;
                 misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
                 status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
                                                              RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in create_message_queue *** error creating message queue\n")
                 }
                 return 0;
             }
             //***********
             // RTEMS TASK
             rtems_task recv_task( rtems_task_argument unused )
             {
                 int len = 0;
                 unsigned int i = 0;
                 unsigned int data_length = 0;
                 ccsdsTelecommandPacket_t currentTC;
                 char data[100];
                 for(i=0; i<100; i++) data[i] = 0;
                 PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF("In RECV *** last read call returned -1\n")
                         if (rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) {
                             PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
                         }
                         if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) {
                             PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
                         }
                     }
                     else {
                         PRINTF1("Got pck of length %d\n", len+1)
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("In RECV *** packet lenght too short\n")
                         }
                         else {
                             currentTC_LEN_RCV[0] = 0x00;
                             currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); //  build the corresponding packet size field
                             currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             // CHECK THE TC AND BUILD THE APPROPRIATE TM
                             data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
                             if (data_length!=-1)
                             {
                             }
                         }
                     }
                 }
             }
             rtems_task actn_task( rtems_task_argument unused )
             {
                 int result = 0;
                 unsigned int val;
                 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 = 0;          // subtype of the current TC packet
                 PRINTF("in ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
-                    if (status!=RTEMS_SUCCESSFUL) PRINTF1("in task ACTN *** error receiving a message, code %d \n", status)
+                    if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     else
                     {
                         subtype = TC.dataFieldHeader[2];
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
                                 result = action_load_comm( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
                                 result = action_load_norm( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
                                 result = action_default( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
                                 result = action_default( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
                                 result = action_default( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
                                 result = action_default( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
+                                if ( (housekeeping_packet.lfr_status_word[0] & 0xf0) != LFR_MODE_STANDBY)
+                                {
+                                    status = stop_current_mode();
+                                }
+                                if (status != RTEMS_SUCCESSFUL)
+                                {
+                                    PRINTF("ERR *** in task ACTN *** TC_SUBTYPE_ENTER *** stop_current_mode\n")
+                                }
                                 result = action_enter( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
                                 result = action_default( &TC );
                                 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);
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_default( &TC );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
                                 result = action_updt_time( &TC );
                                 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);
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 unsigned int indice = 0;
                 unsigned int shiftedIndice = 0;
                 rtems_event_set event_out;
                 PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     indice = 0;
                     shiftedIndice = (unsigned int) event_out;
                     while(!(shiftedIndice & 0x0001))
                     {
                         shiftedIndice = shiftedIndice >> 1;
                         indice++;
                     }
                     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[indice]);
                 }
             }
             //***********
             // TC ACTIONS
             int action_default(ccsdsTelecommandPacket_t *TC)
             {
                 Packet_TM_LFR_TC_EXE_t packet;
                 TM_build_header_bis( TM_LFR_TC_EXE_ERR, TM_LEN_NOT_IMP,
                                     time_management_regs->coarse_time, time_management_regs->fine_time, &packet);
                 packet.data[0] = 0x9c;
                 packet.data[1] = 0x42;
                 packet.data[2] = TC->packetID[0];
                 packet.data[3] = TC->packetID[1];
                 packet.data[4] = TC->packetSequenceControl[0];
                 packet.data[5] = TC->packetSequenceControl[1];
                 packet.data[6] = TC->dataFieldHeader[1]; // type
                 packet.data[7] = TC->dataFieldHeader[2]; // subtype
                 // SEND DATA
                 if (write ( fdSPW, &packet, LEN_TM_LFR_TC_EXE_NOT_IMP)==-1) {
                     PRINTF("ERR *** in action_default *** send TM packet\n");
                 }
                 return LFR_DEFAULT;
             }
             int action_enter(ccsdsTelecommandPacket_t *TC)
             {
-                rtems_status_code status;
+                rtems_status_code status = RTEMS_SUCCESSFUL;
                 unsigned char lfr_mode = TC->dataAndCRC[1];
                 printf("enter mode %d\n", lfr_mode);
                 switch(lfr_mode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
-                        status = stop_current_mode();
-                        if (status != RTEMS_SUCCESSFUL)
-                            PRINTF("in action_enter *** error going back to STANDBY mode\n")
                         housekeeping_packet.lfr_status_word[0] = (unsigned char) ((LFR_MODE_STANDBY << 4) + 0x0d);
                         break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
-                        status = stop_current_mode();
                         status = enter_normal_mode();
                         if (status == RTEMS_SUCCESSFUL)
                         {
                             housekeeping_packet.lfr_status_word[0] = (unsigned char) ((LFR_MODE_NORMAL << 4) + 0x0d);
                         }
                         break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
-                        status = stop_current_mode();
+                        status = enter_burst_mode();
                         if (status == RTEMS_SUCCESSFUL)
                         {
                             housekeeping_packet.lfr_status_word[0] = (unsigned char) ((LFR_MODE_BURST << 4) + 0x0d);
                         }
                         break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
-                        status = stop_current_mode();
                         status = enter_sbm1_mode();
                         if (status == RTEMS_SUCCESSFUL)
                         {
                             housekeeping_packet.lfr_status_word[0] = (unsigned char) ((LFR_MODE_SBM1 << 4) + 0x0d);
                         }
                         break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
-                        status = stop_current_mode();
+                        status = enter_sbm2_mode();
                         if (status == RTEMS_SUCCESSFUL)
                         {
                             housekeeping_packet.lfr_status_word[0] = (unsigned char) ((LFR_MODE_SBM2 << 4) + 0x0d);
                         }
                         break;
                     //********
                     // DEFAULT
                     default:
-                        status = stop_current_mode();
-                        if (status == RTEMS_SUCCESSFUL)
                         housekeeping_packet.lfr_status_word[0] = (unsigned char) ((LFR_MODE_STANDBY << 4) + 0x0d);
                         break;
                 }
                 return status;
             }
             int stop_current_mode()
             {
                 rtems_status_code status;
                 // mask all IRQ lines related to signal processing
                 LEON_Mask_interrupt( IRQ_WF );                  // mask waveform interrupt (coming from the timer VHDL IP)
                 LEON_Mask_interrupt( IRQ_SM );                  // mask spectral matrices interrupt (coming from the timer VHDL IP)
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 // clear all pending interruptions related to signal processing
                 LEON_Clear_interrupt( IRQ_WF );                  // clear waveform interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_SM );                  // clear spectral matrices interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );     // clear waveform picker interrupt
                 // suspend several tasks
-                status = suspend_if_needed( Task_id[TASKID_AVF0] );
+                status = rtems_task_suspend( Task_id[TASKID_AVF0] );
+                if (status == RTEMS_SUCCESSFUL) {
+                    status = rtems_task_suspend( Task_id[TASKID_BPF0] );
                     if (status == RTEMS_SUCCESSFUL) {
-                    status = suspend_if_needed( Task_id[TASKID_BPF0] );
+                        status = rtems_task_suspend( Task_id[TASKID_WFRM] );
-                    if (status == RTEMS_SUCCESSFUL) {
-                        status = suspend_if_needed( Task_id[TASKID_WFRM] );
                 }
+                if (status != RTEMS_SUCCESSFUL)
+                {
+                    PRINTF("ERR *** in stop_current_mode *** suspending tasks\n")
                 }
                 // initialize the registers
                 waveform_picker_regs->burst_enable = 0x00;      // initialize
                 return status;
             }
             int enter_normal_mode()
             {
                 rtems_status_code status;
-                status = restart_if_needed( Task_id[TASKID_AVF0] );
+                status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
                 if (status == RTEMS_SUCCESSFUL) {
-                    status = restart_if_needed( Task_id[TASKID_BPF0] );
+                    status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
                     if (status == RTEMS_SUCCESSFUL) {
-                        status = restart_if_needed( Task_id[TASKID_WFRM] );
+                        status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
                     }
                 }
             #ifdef GSA
                 LEON_Unmask_interrupt( IRQ_WF );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 waveform_picker_regs->burst_enable = 0x07;
                 waveform_picker_regs->addr_data_f1 = (int) wf_snap_f1;
                 waveform_picker_regs->status = 0x00;
             #endif
                 LEON_Unmask_interrupt( IRQ_SM );
                 return status;
             }
-            int enter_sbm1_mode()
+            int enter_burst_mode()
             {
                 rtems_status_code status;
-                status = restart_if_needed( Task_id[TASKID_AVF0] );
+                status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
                 if (status == RTEMS_SUCCESSFUL) {
-                    status = restart_if_needed( Task_id[TASKID_BPF0] );
+                    status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
                     if (status == RTEMS_SUCCESSFUL) {
-                        status = restart_if_needed( Task_id[TASKID_WFRM] );
+                        status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
                     }
                 }
             #ifdef GSA
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
+                waveform_picker_regs->addr_data_f2 = (int) wf_snap_f2;
+                waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] burst f2, f1, f0 enable f3 f2 f1 f0
+                waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x04;
+                waveform_picker_regs->status = 0x00;
+            #endif
+                LEON_Unmask_interrupt( IRQ_SM );
+                return status;
+            }
+            int enter_sbm1_mode()
+            {
+                rtems_status_code status;
+                status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
+                if (status == RTEMS_SUCCESSFUL) {
+                    status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
+                    if (status == RTEMS_SUCCESSFUL) {
+                        status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
+                    }
+                }
+            #ifdef GSA
+            #else
+                LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
+                LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
+                waveform_picker_regs->addr_data_f1 = (int) wf_snap_f1;
                 waveform_picker_regs->burst_enable = 0x20;  // [0010 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x02;
                 waveform_picker_regs->status = 0x00;
             #endif
-                //LEON_Unmask_interrupt( IRQ_SM );
+                LEON_Unmask_interrupt( IRQ_SM );
+                return status;
+            }
+            int enter_sbm2_mode()
+            {
+                rtems_status_code status;
+                status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
+                if (status == RTEMS_SUCCESSFUL) {
+                    status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
+                    if (status == RTEMS_SUCCESSFUL) {
+                        status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
+                    }
+                }
+            #ifdef GSA
+            #else
+                LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
+                LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
+                waveform_picker_regs->addr_data_f2 = (int) wf_snap_f2;
+                waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] burst f2, f1, f0 enable f3 f2 f1 f0
+                waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x04;
+                waveform_picker_regs->status = 0x00;
+            #endif
+                LEON_Unmask_interrupt( IRQ_SM );
                 return status;
             }
             int action_load_norm(ccsdsTelecommandPacket_t *TC)
             {
                 param_norm.sy_lfr_n_swf_l = (TC->dataAndCRC[0] * 256) + TC->dataAndCRC[1];
                 param_norm.sy_lfr_n_swf_p = (TC->dataAndCRC[2] * 256) + TC->dataAndCRC[3];
                 param_norm.sy_lfr_n_asm_p = (TC->dataAndCRC[4] * 256) + TC->dataAndCRC[5];
                 param_norm.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
                 param_norm.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
                 return LFR_SUCCESSFUL;
             }
             int action_load_comm(ccsdsTelecommandPacket_t *TC)
             {
                 param_common.sy_lfr_common0 = TC->dataAndCRC[0];
                 param_common.sy_lfr_common1 = TC->dataAndCRC[1];
                 set_data_shaping_parameters(param_common.sy_lfr_common1);
                 return LFR_SUCCESSFUL;
             }
             int action_updt_time(ccsdsTelecommandPacket_t *TC)
             {
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 //time_management_regs->ctrl = time_management_regs->ctrl | 1;
                 return 0;
             }
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
             {
                 TMHeader_t TM_header;
                 char data[4];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_OK, TM_LEN_EXE,
                                           time_management_regs->coarse_time, time_management_regs->fine_time, &TM_header);
                 data[0] = TC->packetID[0];
                 data[1] = TC->packetID[1];
                 data[2] = TC->packetSequenceControl[0];
                 data[3] = TC->packetSequenceControl[1];
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 3; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 3;
                 spw_ioctl_send.data = data;
                 // SEND DATA
                 write_spw(&spw_ioctl_send);
                 return 0;
             }
-            rtems_status_code restart_if_needed(rtems_id id)
-                rtems_status_code status;
-                status = rtems_task_is_suspended( id );
-                if (status==RTEMS_SUCCESSFUL) {
-                    status = rtems_task_restart( id, 0 );
-                    if (status!=RTEMS_SUCCESSFUL) {
-                        PRINTF1("in restart_if_needed *** Error restarting with id %d\n", (int) id)
-                return status;
-            rtems_status_code suspend_if_needed(rtems_id id)
-                rtems_status_code status;
-                status = rtems_task_is_suspended( id );
-                if (status!=RTEMS_SUCCESSFUL) {
-                    status = rtems_task_suspend( id );
-                    if (status!=RTEMS_SUCCESSFUL) {
-                        PRINTF1("in suspend_if_needed *** Error suspending task with id %d\n", (int) id)
-                return status;
             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->dataFieldHeader[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->dataFieldHeader[2];
                 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->dataFieldHeader[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->dataFieldHeader[2];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result)
             {
                 unsigned int val = 0;
                 if (result == LFR_SUCCESSFUL)
                 {
                     send_tm_lfr_tc_exe_success( TC );
                     update_last_TC_exe( TC );
                     val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
                 else
                 {
                     update_last_TC_rej( TC );
                     val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }

src/wf_handler.c +69 -31

             #include <wf_handler.h>
-            rtems_isr waveforms_isr_alternative( rtems_vector_number vector )
-                if (waveform_picker_regs->burst_enable == 0x22) {
-                    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);
-                    if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_2 ) != RTEMS_SUCCESSFUL) {
-                        //rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
-                waveform_picker_regs->status = 0x00;
-                /*else if ( (waveform_picker_regs->burst_enable & 0x7) == 0x0 ){// if no channel is enable
-                    if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 ) != RTEMS_SUCCESSFUL) {
-                        printf("In timecode_irq_handler *** Error sending event to DUMB\n");
-                else {
-                    if ( (waveform_picker_regs->status & 0x7) == 0x7 ){         // f2 f1 and f0 are full
-                        waveform_picker_regs->burst_enable = 0x00;
-                        if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
-                            printf("In waveforms_isr *** Error sending event to WFRM\n");
-                }*/
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 switch(lfrMode)
                 {
                     //********
                     // 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
                             if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 ) != RTEMS_SUCCESSFUL) {
                                 PRINTF("in waveform_isr *** Error sending event to DUMB\n");
                             }
                         }
                         else {
                             if ( (waveform_picker_regs->status & 0x7) == 0x7 ){         // f2 f1 and f0 are full
                                 waveform_picker_regs->burst_enable = 0x00;
                                 if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                                     if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 ) != RTEMS_SUCCESSFUL) {
                                         PRINTF("in waveform_isr *** Error sending event to DUMB\n");
                                     }
                                 }
                             }
                         }
             #endif
                         break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
                         break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
             #ifdef GSA
                         PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
             #else
                         if (waveform_picker_regs->burst_enable == 0x22) {
                             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);
                             }
                             if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 ) != RTEMS_SUCCESSFUL) {
                                 PRINTF("in waveforms_isr *** Error sending event to WFRM\n")
                                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                             }
                         }
                         waveform_picker_regs->status = 0x00;
             #endif
                         break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
+            #ifdef GSA
+                        PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
+            #else
+                        if (waveform_picker_regs->burst_enable == 0x44) {
+                            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);
+                            }
+                            if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
+                                PRINTF("in waveforms_isr *** Error sending event to WFRM\n")
+                                rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
+                            }
+                        }
+                        waveform_picker_regs->status = 0x00;
+            #endif
                         break;
                     //********
                     // DEFAULT
                     default:
                         break;
                 }
             }
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector )
             {
-                if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
+                unsigned char lfrMode;
-                    printf("In waveforms_isr *** Error sending event to WFRM\n");
+                lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
+                switch(lfrMode)
+                {
+                    //********
+                    // STANDBY
+                    case(LFR_MODE_STANDBY):
+                        break;
+                    //******
+                    // NORMAL
+                    case(LFR_MODE_NORMAL):
+                        if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
+                            PRINTF("ERR *** in waveforms_isr *** error sending event to WFRM\n");
+                        }
+                        break;
+                    //******
+                    // BURST
+                    case(LFR_MODE_BURST):
+                        break;
+                    //*****
+                    // SBM1
+                    case(LFR_MODE_SBM1):
+                        break;
+                    //*****
+                    // SBM2
+                    case(LFR_MODE_SBM2):
+                        break;
+                    //********
+                    // DEFAULT
+                    default:
+                        break;
                 }
             }
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 spw_ioctl_pkt_send spw_ioctl_send;
                 rtems_event_set event_out;
                 ExtendedTMHeader_t header;
                 header.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header.reserved = 0x00;
                 header.userApplication = CCSDS_USER_APP;
                 header.packetID[0] = 0x0c;
                 header.packetID[1] = 0xcc;
                 header.packetSequenceControl[0] = 0x00;
                 header.packetSequenceControl[1] = 0x00;
                 header.packetLength[0] = 0x00;
                 header.packetLength[1] = 0x00;
                 header.dataFieldHeader[0] = 0x10;
                 header.dataFieldHeader[1] = TM_TYPE_LFR_SCIENCE; // service type
                 header.dataFieldHeader[2] = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header.dataFieldHeader[3] = CCSDS_DESTINATION_ID_GROUND;
                 header.auxiliaryHeader[0] = 0x00;
                 header.auxiliaryHeader[1] = 0x1f;
                 header.auxiliaryHeader[2] = 0x07; // PKT_CNT
                 header.auxiliaryHeader[3] = 0x00; // PKT_NR
                 header.auxiliaryHeader[4] = 0x00; // BLK_NR MSB
                 header.auxiliaryHeader[5] = 0x00; // BLK_NR LSB
                 // BUILD THE PACKET HEADER
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4 + 6; // + 4 is for the protocole extra header, + 6 is for the auxiliary header
                 spw_ioctl_send.hdr = (char*) &header;
                 init_waveforms();
                 PRINTF("in WFRM ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     header.dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
                     header.dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
                     header.dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
                     header.dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
                     header.dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
                     header.dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
                     switch(event_out)
                     {
                         //********
                         // STANDBY
                         case(RTEMS_EVENT_MODE_STANDBY):
                             break;
                         //*******
                         // NORMAL
                         case(RTEMS_EVENT_MODE_NORMAL):
                             //***************
                             // send snapshots
                             // F0
                             send_waveform( &header, wf_snap_f0, SID_NORM_SWF_F0, &spw_ioctl_send);
                             // F1
                             send_waveform( &header, wf_snap_f1, SID_NORM_SWF_F1, &spw_ioctl_send);
                             // F2
                             send_waveform( &header, wf_snap_f2, SID_NORM_SWF_F2, &spw_ioctl_send);
             #ifdef GSA
                             // irq processed, reset the related register of the timer unit
                             gptimer_regs->timer[2].ctrl = gptimer_regs->timer[2].ctrl | 0x00000010;
             #else
                             // irq processed, reset the related register of the waveform picker
                             waveform_picker_regs->status = 0x00;
                             waveform_picker_regs->burst_enable = 0x07;
             #endif
                             break;
                         //*****
                         // SBM1
                         case(RTEMS_EVENT_MODE_SBM1):
                             // F1
                             if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {
                                send_waveform( &header, wf_snap_f1_bis, SID_NORM_SWF_F1, &spw_ioctl_send);
                             }
                             else {
                                 send_waveform( &header, wf_snap_f1, SID_NORM_SWF_F1, &spw_ioctl_send);
                             }
                             break;
+                        //*****
+                        // SBM2
+                        case(RTEMS_EVENT_MODE_SBM2):
+                            // F2
+                            if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
+                                send_waveform( &header, wf_snap_f2_bis, SID_NORM_SWF_F2, &spw_ioctl_send);
+                            }
+                            else {
+                                send_waveform( &header, wf_snap_f2, SID_NORM_SWF_F2, &spw_ioctl_send);
+                            }
+                            break;
+                        //********
+                        // DEFAULT
                         default:
                             break;
                     }
                 }
             }
             //******************
             // general functions
             void init_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     //***
                     // F0
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777;     //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;    //
                     wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0x44443333;    //
                     //***
                     // F1
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F2
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x44443333;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;
                     wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F3
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;
                     //wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;
                 }
             }
             void init_waveform_header( ExtendedTMHeader_t * header, unsigned int sid )
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = 0x0c;
                 header->packetID[1] = 0xcc;
                 header->packetSequenceControl[0] = 0x00;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 header->dataFieldHeader[0] = 0x10;
                 header->dataFieldHeader[1] = TM_TYPE_LFR_SCIENCE; // service type
                 header->dataFieldHeader[2] = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header->dataFieldHeader[3] = CCSDS_DESTINATION_ID_GROUND;
                 header->auxiliaryHeader[0] = sid;
                 header->auxiliaryHeader[1] = 0x1f;
                 header->auxiliaryHeader[2] = 0x07; // PKT_CNT
                 header->auxiliaryHeader[3] = 0x00; // PKT_NR
                 header->auxiliaryHeader[4] = 0x00; // BLK_NR MSB
                 header->auxiliaryHeader[5] = 0x00; // BLK_NR LSB
             }
             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*/
                 }
             }
             void send_waveform( ExtendedTMHeader_t *header, volatile int *waveform,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send)
             {
                 unsigned int i = 0;
                 unsigned int length = 0;
                 rtems_status_code status;
                 for (i=0; i<7; i++) // send waveform
                 {
                     header->auxiliaryHeader[3] = (unsigned char) i+1; // PKT_NR
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send->dlen = 8 * NB_BYTES_SWF_BLK;
                         length = TM_LEN_SCI_NORM_SWF_8;
                         header->auxiliaryHeader[4] = 0x00; // BLK_NR MSB
                         header->auxiliaryHeader[5] = 0x08; // BLK_NR LSB
                     }
                     else {
                         spw_ioctl_send->dlen = 340 * NB_BYTES_SWF_BLK;
                         length = TM_LEN_SCI_NORM_SWF_340;
                         header->auxiliaryHeader[4] = 0x01; // BLK_NR MSB
                         header->auxiliaryHeader[5] = 0x54; // BLK_NR LSB
                     }
                     if (sid == SID_NORM_SWF_F0) {
                          spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + (1 * TIME_OFFSET) ];
                     }
                     else if (sid == SID_NORM_SWF_F1) {
                          spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + (1 * TIME_OFFSET) ];
                     }
                     else if (sid == SID_NORM_SWF_F2) {
                          spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) + (1 * TIME_OFFSET) ];
                     }
                     else {
                          spw_ioctl_send->data = (char*) &waveform[ (i * 340 * NB_WORDS_SWF_BLK) ];
                     }
                     // BUILD THE HEADER
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->auxiliaryHeader[0] = sid; // SID
                     // SEND PACKET
                     status = write_spw(spw_ioctl_send);
                     if (status != RTEMS_SUCCESSFUL) {
                         while (true) {
                             if (status != RTEMS_SUCCESSFUL) {
                                 status = write_spw(spw_ioctl_send);
                                 //PRINTF1("%d", i)
                                 sched_yield();
                             }
                             else {
                                 //PRINTF("\n")
                                 break;
                             }
                         }
                     }
                 }
             }
             int build_value(int value1, int value0)
             {
                 int aux  = 0;
                 int aux1 = 0;
                 int aux0 = 0;
                 int value1_aux = 0;
                 int value0_aux = 0;
                 value1_aux = value1;
                 value0_aux = value0;
                 //******
                 // B3 B2
                 if (value1_aux > 8191) value1_aux = 8191;
                 if (value1_aux < -8192) value1_aux = -8192;
                 aux1 = ( (int) ( ( (unsigned char) (value1_aux / 256 ) ) << 8 ) )
                      + ( (int) (   (unsigned char) (value1_aux       ) )      );
                 //******
                 // B1 B0
                 if (value0_aux > 8191) value0_aux = 8191;
                 if (value0_aux < -8192) value0_aux = -8192;
                 aux0 = ( (int) ( ( (unsigned char) (value0_aux / 256) ) << 8 ) )
                      + ( (int) (   (unsigned char) (value0_aux      ) )      );
                 aux = (aux1 << 16) + aux0;
                 return aux;
             }
             void init_waveform_picker_regs()
             {
                 set_data_shaping_parameters(param_common.sy_lfr_common1);
                 waveform_picker_regs->burst_enable = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
                 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);  //
                 waveform_picker_regs->status = 0x00;                    //
                 waveform_picker_regs->delta_snapshot = 0x5;             // max 2 bytes
                 waveform_picker_regs->delta_f2_f1 = 0xffff;             // max 4 bytes
                 waveform_picker_regs->delta_f2_f0 = 0x17c00;            // 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->delta_snapshot = 0x2;         // max 2 bytes, = period / 2
                 //waveform_picker_regs->delta_f2_f1 = 0x2d00;         // max 4 bytes
                 //waveform_picker_regs->delta_f2_f0 = 0x2f80;         // max 5 bytes
                 //waveform_picker_regs->nb_burst_available = 0x30;    // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets)
                 //waveform_picker_regs->nb_snapshot_param = 0xff;     // max 3 octets, 256 - 1
             }
             void set_data_shaping_parameters(unsigned char parameters)
             {
                 // 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]
                 waveform_picker_regs->data_shaping =
                           ( (parameters & 0x10) >> 4 )     // BW
                         + ( (parameters & 0x08) >> 2 )     // SP0
                         + ( (parameters & 0x04)      )     // SP1
                         + ( (parameters & 0x02) << 2 )     // R0
                         + ( (parameters & 0x01) << 4 );    // R1
             }

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