HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r161:e0676cd8b3cd

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/** This is the RTEMS initialization module.

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/** This is the RTEMS initialization module.

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*

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*

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* @file

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* @file

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* @author P. LEROY

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* @author P. LEROY

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*

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*

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* This module contains two very different information:

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* This module contains two very different information:

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* - specific instructions to configure the compilation of the RTEMS executive

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* - specific instructions to configure the compilation of the RTEMS executive

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* - functions related to the fligth softwre initialization, especially the INIT RTEMS task

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* - functions related to the fligth softwre initialization, especially the INIT RTEMS task

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*

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*

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*/

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*/

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//*************************

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//*************************

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// GPL reminder to be added

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// GPL reminder to be added

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//*************************

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//*************************

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#include <rtems.h>

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#include <rtems.h>

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/* configuration information */

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/* configuration information */

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#define CONFIGURE_INIT

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#define CONFIGURE_INIT

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#include <bsp.h> /* for device driver prototypes */

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#include <bsp.h> /* for device driver prototypes */

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/* configuration information */

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/* configuration information */

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#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER

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#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER

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#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER

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#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER

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#define CONFIGURE_MAXIMUM_TASKS 20

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#define CONFIGURE_MAXIMUM_TASKS 20

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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE

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#define CONFIGURE_RTEMS_INIT_TASKS_TABLE

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#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)

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#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)

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#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32

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#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32

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#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100

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#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100

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#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)

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#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)

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#define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)

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#define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)

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#define CONFIGURE_MAXIMUM_DRIVERS 16

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#define CONFIGURE_MAXIMUM_DRIVERS 16

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#define CONFIGURE_MAXIMUM_PERIODS 5

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#define CONFIGURE_MAXIMUM_PERIODS 5

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#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)

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#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)

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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5

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#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5

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#ifdef PRINT_STACK_REPORT

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#ifdef PRINT_STACK_REPORT

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#define CONFIGURE_STACK_CHECKER_ENABLED

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#define CONFIGURE_STACK_CHECKER_ENABLED

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#endif

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#endif

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#include <rtems/confdefs.h>

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#include <rtems/confdefs.h>

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/* If --drvmgr was enabled during the configuration of the RTEMS kernel */

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/* If --drvmgr was enabled during the configuration of the RTEMS kernel */

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#ifdef RTEMS_DRVMGR_STARTUP

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#ifdef RTEMS_DRVMGR_STARTUP

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#ifdef LEON3

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#ifdef LEON3

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/* Add Timer and UART Driver */

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/* Add Timer and UART Driver */

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#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER

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#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER

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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER

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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER

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#endif

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#endif

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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER

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#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER

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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART

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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART

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#endif

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#endif

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#endif

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#endif

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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */

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#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */

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#include <drvmgr/drvmgr_confdefs.h>

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#include <drvmgr/drvmgr_confdefs.h>

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#endif

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#endif

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#include "fsw_init.h"

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#include "fsw_init.h"

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#include "fsw_config.c"

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#include "fsw_config.c"

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rtems_task Init( rtems_task_argument ignored )

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rtems_task Init( rtems_task_argument ignored )

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{

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{

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/** This is the RTEMS INIT taks, it the first task launched by the system.

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/** This is the RTEMS INIT taks, it the first task launched by the system.

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*

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*

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* @param unused is the starting argument of the RTEMS task

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* @param unused is the starting argument of the RTEMS task

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*

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*

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* The INIT task create and run all other RTEMS tasks.

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* The INIT task create and run all other RTEMS tasks.

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*

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*

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*/

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*/

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unsigned char *vhdlVersion;

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unsigned char *vhdlVersion;

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reset_local_time();

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reset_local_time();

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rtems_cpu_usage_reset();

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rtems_cpu_usage_reset();

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rtems_status_code status;

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rtems_status_code status;

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rtems_status_code status_spw;

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rtems_status_code status_spw;

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rtems_isr_entry old_isr_handler;

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rtems_isr_entry old_isr_handler;

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// UART settings

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// UART settings

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send_console_outputs_on_apbuart_port();

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send_console_outputs_on_apbuart_port();

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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);

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set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);

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enable_apbuart_transmitter();

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enable_apbuart_transmitter();

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DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")

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DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")

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PRINTF("\n\n\n\n\n")

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PRINTF("\n\n\n\n\n")

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PRINTF("*************************\n")

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PRINTF("*************************\n")

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PRINTF("** LFR Flight Software **\n")

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PRINTF("** LFR Flight Software **\n")

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PRINTF1("** %d.", SW_VERSION_N1)

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PRINTF1("** %d.", SW_VERSION_N1)

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PRINTF1("%d." , SW_VERSION_N2)

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PRINTF1("%d." , SW_VERSION_N2)

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PRINTF1("%d." , SW_VERSION_N3)

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PRINTF1("%d." , SW_VERSION_N3)

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PRINTF1("%d **\n", SW_VERSION_N4)

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PRINTF1("%d **\n", SW_VERSION_N4)

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vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);

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vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);

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PRINTF("** VHDL **\n")

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PRINTF("** VHDL **\n")

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PRINTF1("** %d.", vhdlVersion[1])

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PRINTF1("** %d.", vhdlVersion[1])

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PRINTF1("%d." , vhdlVersion[2])

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PRINTF1("%d." , vhdlVersion[2])

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PRINTF1("%d **\n", vhdlVersion[3])

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PRINTF1("%d **\n", vhdlVersion[3])

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PRINTF("*************************\n")

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PRINTF("*************************\n")

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PRINTF("\n\n")

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PRINTF("\n\n")

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init_parameter_dump();

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init_parameter_dump();

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init_local_mode_parameters();

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init_local_mode_parameters();

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init_housekeeping_parameters();

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init_housekeeping_parameters();

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// waveform picker initialization

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// waveform picker initialization

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WFP_init_rings(); // initialize the waveform rings

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WFP_init_rings(); // initialize the waveform rings

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WFP_reset_current_ring_nodes();

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WFP_reset_current_ring_nodes();

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reset_waveform_picker_regs();

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reset_waveform_picker_regs();

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// spectral matrices initialization

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// spectral matrices initialization

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SM_init_rings(); // initialize spectral matrices rings

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SM_init_rings(); // initialize spectral matrices rings

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SM_reset_current_ring_nodes();

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SM_reset_current_ring_nodes();

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reset_spectral_matrix_regs();

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reset_spectral_matrix_regs();

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updateLFRCurrentMode();

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updateLFRCurrentMode();

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BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)

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BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)

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create_names(); // create all names

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create_names(); // create all names

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status = create_message_queues(); // create message queues

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status = create_message_queues(); // create message queues

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if (status != RTEMS_SUCCESSFUL)

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if (status != RTEMS_SUCCESSFUL)

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{

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{

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PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)

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PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)

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}

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}

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status = create_all_tasks(); // create all tasks

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status = create_all_tasks(); // create all tasks

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if (status != RTEMS_SUCCESSFUL)

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if (status != RTEMS_SUCCESSFUL)

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{

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{

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PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)

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PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)

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}

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}

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// **************************

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// **************************

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// <SPACEWIRE INITIALIZATION>

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// <SPACEWIRE INITIALIZATION>

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grspw_timecode_callback = &timecode_irq_handler;

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grspw_timecode_callback = &timecode_irq_handler;

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status_spw = spacewire_open_link(); // (1) open the link

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status_spw = spacewire_open_link(); // (1) open the link

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if ( status_spw != RTEMS_SUCCESSFUL )

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if ( status_spw != RTEMS_SUCCESSFUL )

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{

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{

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PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )

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PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )

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}

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}

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if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link

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if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link

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{

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{

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status_spw = spacewire_configure_link( fdSPW );

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status_spw = spacewire_configure_link( fdSPW );

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if ( status_spw != RTEMS_SUCCESSFUL )

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if ( status_spw != RTEMS_SUCCESSFUL )

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{

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{

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PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )

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PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )

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}

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}

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}

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}

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if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link

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if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link

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{

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{

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status_spw = spacewire_start_link( fdSPW );

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status_spw = spacewire_start_link( fdSPW );

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if ( status_spw != RTEMS_SUCCESSFUL )

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if ( status_spw != RTEMS_SUCCESSFUL )

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{

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{

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PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )

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PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )

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}

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}

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}

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}

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// </SPACEWIRE INITIALIZATION>

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// </SPACEWIRE INITIALIZATION>

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// ***************************

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// ***************************

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status = start_all_tasks(); // start all tasks

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status = start_all_tasks(); // start all tasks

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if (status != RTEMS_SUCCESSFUL)

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if (status != RTEMS_SUCCESSFUL)

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{

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{

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PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)

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PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)

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}

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}

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// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization

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// start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization

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status = start_recv_send_tasks();

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status = start_recv_send_tasks();

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if ( status != RTEMS_SUCCESSFUL )

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if ( status != RTEMS_SUCCESSFUL )

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{

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{

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PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )

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PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )

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}

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}

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// suspend science tasks, they will be restarted later depending on the mode

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// suspend science tasks, they will be restarted later depending on the mode

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status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)

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status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)

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if (status != RTEMS_SUCCESSFUL)

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if (status != RTEMS_SUCCESSFUL)

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{

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{

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PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)

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PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)

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}

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}

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//******************************

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//******************************

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// <SPECTRAL MATRICES SIMULATOR>

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// <SPECTRAL MATRICES SIMULATOR>

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LEON_Mask_interrupt( IRQ_SM_SIMULATOR );

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LEON_Mask_interrupt( IRQ_SM_SIMULATOR );

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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,

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configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,

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IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );

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IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );

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// </SPECTRAL MATRICES SIMULATOR>

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// </SPECTRAL MATRICES SIMULATOR>

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//*******************************

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//*******************************

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// configure IRQ handling for the waveform picker unit

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// configure IRQ handling for the waveform picker unit

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status = rtems_interrupt_catch( waveforms_isr,

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status = rtems_interrupt_catch( waveforms_isr,

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IRQ_SPARC_WAVEFORM_PICKER,

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IRQ_SPARC_WAVEFORM_PICKER,

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&old_isr_handler) ;

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&old_isr_handler) ;

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// configure IRQ handling for the spectral matrices unit

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// configure IRQ handling for the spectral matrices unit

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status = rtems_interrupt_catch( spectral_matrices_isr,

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status = rtems_interrupt_catch( spectral_matrices_isr,

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IRQ_SPARC_SPECTRAL_MATRIX,

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IRQ_SPARC_SPECTRAL_MATRIX,

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&old_isr_handler) ;

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&old_isr_handler) ;

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// if the spacewire link is not up then send an event to the SPIQ task for link recovery

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// if the spacewire link is not up then send an event to the SPIQ task for link recovery

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if ( status_spw != RTEMS_SUCCESSFUL )

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if ( status_spw != RTEMS_SUCCESSFUL )

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{

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{

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status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );

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status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );

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if ( status != RTEMS_SUCCESSFUL ) {

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if ( status != RTEMS_SUCCESSFUL ) {

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PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )

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PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )

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}

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}

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}

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}

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BOOT_PRINTF("delete INIT\n")

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BOOT_PRINTF("delete INIT\n")

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send_dumb_hk();

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status = rtems_task_delete(RTEMS_SELF);

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status = rtems_task_delete(RTEMS_SELF);

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}

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}

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void init_local_mode_parameters( void )

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void init_local_mode_parameters( void )

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{

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{

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/** This function initialize the param_local global variable with default values.

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/** This function initialize the param_local global variable with default values.

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*

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*

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*/

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*/

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unsigned int i;

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unsigned int i;

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// LOCAL PARAMETERS

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// LOCAL PARAMETERS

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BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)

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BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)

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BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)

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BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)

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BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)

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BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)

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// init sequence counters

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// init sequence counters

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for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)

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for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)

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{

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{

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sequenceCounters_TC_EXE[i] = 0x00;

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sequenceCounters_TC_EXE[i] = 0x00;

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}

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}

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sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;

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sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;

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sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;

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sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;

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sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;

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sequenceCounterHK = TM_PACKET_SEQ_CTRL_STANDALONE << 8;

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sequenceCounterParameterDump = TM_PACKET_SEQ_CTRL_STANDALONE << 8;

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sequenceCounterParameterDump = TM_PACKET_SEQ_CTRL_STANDALONE << 8;

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}

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}

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void reset_local_time( void )

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void reset_local_time( void )

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{

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{

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time_management_regs->ctrl = 0x02; // software reset, coarse time = 0x80000000

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time_management_regs->ctrl = 0x02; // software reset, coarse time = 0x80000000

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}

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}

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void create_names( void ) // create all names for tasks and queues

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void create_names( void ) // create all names for tasks and queues

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{

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{

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/** This function creates all RTEMS names used in the software for tasks and queues.

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/** This function creates all RTEMS names used in the software for tasks and queues.

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*

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*

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* @return RTEMS directive status codes:

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* @return RTEMS directive status codes:

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* - RTEMS_SUCCESSFUL - successful completion

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* - RTEMS_SUCCESSFUL - successful completion

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*

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*

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*/

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*/

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// task names

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// task names

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Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );

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Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );

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Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );

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Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );

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Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );

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Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );

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Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );

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Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );

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Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );

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Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );

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Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );

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Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );

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Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );

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Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );

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Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );

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Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );

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Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );

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Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );

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Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );

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Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );

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Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );

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Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );

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Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );

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Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );

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Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );

273

Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );

276

Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );

274

Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );

277

Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );

275

Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );

278

Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );

276

Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );

279

Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );

277

Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );

280

Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );

278

Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );

281

Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );

279

Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );

282

280

283

// rate monotonic period names

281

// rate monotonic period names

284

name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );

282

name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );

285

283

286

misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );

284

misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );

287

misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );

285

misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );

288

misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );

286

misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );

289

misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );

287

misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );

290

misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );

288

misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );

291

}

289

}

292

290

293

int create_all_tasks( void ) // create all tasks which run in the software

291

int create_all_tasks( void ) // create all tasks which run in the software

294

{

292

{

295

/** This function creates all RTEMS tasks used in the software.

293

/** This function creates all RTEMS tasks used in the software.

296

*

294

*

297

* @return RTEMS directive status codes:

295

* @return RTEMS directive status codes:

298

* - RTEMS_SUCCESSFUL - task created successfully

296

* - RTEMS_SUCCESSFUL - task created successfully

299

* - RTEMS_INVALID_ADDRESS - id is NULL

297

* - RTEMS_INVALID_ADDRESS - id is NULL

300

* - RTEMS_INVALID_NAME - invalid task name

298

* - RTEMS_INVALID_NAME - invalid task name

301

* - RTEMS_INVALID_PRIORITY - invalid task priority

299

* - RTEMS_INVALID_PRIORITY - invalid task priority

302

* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured

300

* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured

303

* - RTEMS_TOO_MANY - too many tasks created

301

* - RTEMS_TOO_MANY - too many tasks created

304

* - RTEMS_UNSATISFIED - not enough memory for stack/FP context

302

* - RTEMS_UNSATISFIED - not enough memory for stack/FP context

305

* - RTEMS_TOO_MANY - too many global objects

303

* - RTEMS_TOO_MANY - too many global objects

306

*

304

*

307

*/

305

*/

308

306

309

rtems_status_code status;

307

rtems_status_code status;

310

308

311

//**********

309

//**********

312

// SPACEWIRE

310

// SPACEWIRE

313

// RECV

311

// RECV

314

status = rtems_task_create(

312

status = rtems_task_create(

315

Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,

313

Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,

316

RTEMS_DEFAULT_MODES,

314

RTEMS_DEFAULT_MODES,

317

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]

315

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]

318

);

316

);

319

if (status == RTEMS_SUCCESSFUL) // SEND

317

if (status == RTEMS_SUCCESSFUL) // SEND

320

{

318

{

321

status = rtems_task_create(

319

status = rtems_task_create(

322

Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,

320

Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,

323

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

321

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

324

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]

322

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]

325

);

323

);

326

}

324

}

327

if (status == RTEMS_SUCCESSFUL) // WTDG

325

if (status == RTEMS_SUCCESSFUL) // WTDG

328

{

326

{

329

status = rtems_task_create(

327

status = rtems_task_create(

330

Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,

328

Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,

331

RTEMS_DEFAULT_MODES,

329

RTEMS_DEFAULT_MODES,

332

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]

330

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]

333

);

331

);

334

}

332

}

335

if (status == RTEMS_SUCCESSFUL) // ACTN

333

if (status == RTEMS_SUCCESSFUL) // ACTN

336

{

334

{

337

status = rtems_task_create(

335

status = rtems_task_create(

338

Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,

336

Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,

339

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

337

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

340

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]

338

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]

341

);

339

);

342

}

340

}

343

if (status == RTEMS_SUCCESSFUL) // SPIQ

341

if (status == RTEMS_SUCCESSFUL) // SPIQ

344

{

342

{

345

status = rtems_task_create(

343

status = rtems_task_create(

346

Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,

344

Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,

347

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

345

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

348

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]

346

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]

349

);

347

);

350

}

348

}

351

349

352

//******************

350

//******************

353

// SPECTRAL MATRICES

351

// SPECTRAL MATRICES

354

if (status == RTEMS_SUCCESSFUL) // AVF0

352

if (status == RTEMS_SUCCESSFUL) // AVF0

355

{

353

{

356

status = rtems_task_create(

354

status = rtems_task_create(

357

Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,

355

Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,

358

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

356

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

359

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]

357

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]

360

);

358

);

361

}

359

}

362

if (status == RTEMS_SUCCESSFUL) // PRC0

360

if (status == RTEMS_SUCCESSFUL) // PRC0

363

{

361

{

364

status = rtems_task_create(

362

status = rtems_task_create(

365

Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,

363

Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,

366

RTEMS_DEFAULT_MODES,

364

RTEMS_DEFAULT_MODES,

367

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]

365

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]

368

);

366

);

369

}

367

}

370

if (status == RTEMS_SUCCESSFUL) // AVF1

368

if (status == RTEMS_SUCCESSFUL) // AVF1

371

{

369

{

372

status = rtems_task_create(

370

status = rtems_task_create(

373

Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,

371

Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,

374

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

372

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

375

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]

373

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]

376

);

374

);

377

}

375

}

378

if (status == RTEMS_SUCCESSFUL) // PRC1

376

if (status == RTEMS_SUCCESSFUL) // PRC1

379

{

377

{

380

status = rtems_task_create(

378

status = rtems_task_create(

381

Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,

379

Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,

382

RTEMS_DEFAULT_MODES,

380

RTEMS_DEFAULT_MODES,

383

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]

381

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]

384

);

382

);

385

}

383

}

386

if (status == RTEMS_SUCCESSFUL) // AVF2

384

if (status == RTEMS_SUCCESSFUL) // AVF2

387

{

385

{

388

status = rtems_task_create(

386

status = rtems_task_create(

389

Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,

387

Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,

390

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

388

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

391

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]

389

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]

392

);

390

);

393

}

391

}

394

if (status == RTEMS_SUCCESSFUL) // PRC2

392

if (status == RTEMS_SUCCESSFUL) // PRC2

395

{

393

{

396

status = rtems_task_create(

394

status = rtems_task_create(

397

Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,

395

Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,

398

RTEMS_DEFAULT_MODES,

396

RTEMS_DEFAULT_MODES,

399

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]

397

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]

400

);

398

);

401

}

399

}

402

400

403

//****************

401

//****************

404

// WAVEFORM PICKER

402

// WAVEFORM PICKER

405

if (status == RTEMS_SUCCESSFUL) // WFRM

403

if (status == RTEMS_SUCCESSFUL) // WFRM

406

{

404

{

407

status = rtems_task_create(

405

status = rtems_task_create(

408

Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,

406

Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,

409

RTEMS_DEFAULT_MODES,

407

RTEMS_DEFAULT_MODES,

410

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]

408

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]

411

);

409

);

412

}

410

}

413

if (status == RTEMS_SUCCESSFUL) // CWF3

411

if (status == RTEMS_SUCCESSFUL) // CWF3

414

{

412

{

415

status = rtems_task_create(

413

status = rtems_task_create(

416

Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,

414

Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,

417

RTEMS_DEFAULT_MODES,

415

RTEMS_DEFAULT_MODES,

418

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]

416

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]

419

);

417

);

420

}

418

}

421

if (status == RTEMS_SUCCESSFUL) // CWF2

419

if (status == RTEMS_SUCCESSFUL) // CWF2

422

{

420

{

423

status = rtems_task_create(

421

status = rtems_task_create(

424

Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,

422

Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,

425

RTEMS_DEFAULT_MODES,

423

RTEMS_DEFAULT_MODES,

426

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]

424

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]

427

);

425

);

428

}

426

}

429

if (status == RTEMS_SUCCESSFUL) // CWF1

427

if (status == RTEMS_SUCCESSFUL) // CWF1

430

{

428

{

431

status = rtems_task_create(

429

status = rtems_task_create(

432

Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,

430

Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,

433

RTEMS_DEFAULT_MODES,

431

RTEMS_DEFAULT_MODES,

434

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]

432

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]

435

);

433

);

436

}

434

}

437

if (status == RTEMS_SUCCESSFUL) // SWBD

435

if (status == RTEMS_SUCCESSFUL) // SWBD

438

{

436

{

439

status = rtems_task_create(

437

status = rtems_task_create(

440

Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,

438

Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,

441

RTEMS_DEFAULT_MODES,

439

RTEMS_DEFAULT_MODES,

442

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]

440

RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]

443

);

441

);

444

}

442

}

445

443

446

//*****

444

//*****

447

// MISC

445

// MISC

448

if (status == RTEMS_SUCCESSFUL) // STAT

446

if (status == RTEMS_SUCCESSFUL) // STAT

449

{

447

{

450

status = rtems_task_create(

448

status = rtems_task_create(

451

Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,

449

Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,

452

RTEMS_DEFAULT_MODES,

450

RTEMS_DEFAULT_MODES,

453

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]

451

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]

454

);

452

);

455

}

453

}

456

if (status == RTEMS_SUCCESSFUL) // DUMB

454

if (status == RTEMS_SUCCESSFUL) // DUMB

457

{

455

{

458

status = rtems_task_create(

456

status = rtems_task_create(

459

Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,

457

Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,

460

RTEMS_DEFAULT_MODES,

458

RTEMS_DEFAULT_MODES,

461

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]

459

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]

462

);

460

);

463

}

461

}

464

if (status == RTEMS_SUCCESSFUL) // HOUS

462

if (status == RTEMS_SUCCESSFUL) // HOUS

465

{

463

{

466

status = rtems_task_create(

464

status = rtems_task_create(

467

Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,

465

Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,

468

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

466

RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,

469

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]

467

RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]

470

);

468

);

471

}

469

}

472

470

473

return status;

471

return status;

474

}

472

}

475

473

476

int start_recv_send_tasks( void )

474

int start_recv_send_tasks( void )

477

{

475

{

478

rtems_status_code status;

476

rtems_status_code status;

479

477

480

status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );

478

status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );

481

if (status!=RTEMS_SUCCESSFUL) {

479

if (status!=RTEMS_SUCCESSFUL) {

482

BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")

480

BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")

483

}

481

}

484

482

485

if (status == RTEMS_SUCCESSFUL) // SEND

483

if (status == RTEMS_SUCCESSFUL) // SEND

486

{

484

{

487

status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );

485

status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );

488

if (status!=RTEMS_SUCCESSFUL) {

486

if (status!=RTEMS_SUCCESSFUL) {

489

BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")

487

BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")

490

}

488

}

491

}

489

}

492

490

493

return status;

491

return status;

494

}

492

}

495

493

496

int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS

494

int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS

497

{

495

{

498

/** This function starts all RTEMS tasks used in the software.

496

/** This function starts all RTEMS tasks used in the software.

499

*

497

*

500

* @return RTEMS directive status codes:

498

* @return RTEMS directive status codes:

501

* - RTEMS_SUCCESSFUL - ask started successfully

499

* - RTEMS_SUCCESSFUL - ask started successfully

502

* - RTEMS_INVALID_ADDRESS - invalid task entry point

500

* - RTEMS_INVALID_ADDRESS - invalid task entry point

503

* - RTEMS_INVALID_ID - invalid task id

501

* - RTEMS_INVALID_ID - invalid task id

504

* - RTEMS_INCORRECT_STATE - task not in the dormant state

502

* - RTEMS_INCORRECT_STATE - task not in the dormant state

505

* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task

503

* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task

506

*

504

*

507

*/

505

*/

508

// starts all the tasks fot eh flight software

506

// starts all the tasks fot eh flight software

509

507

510

rtems_status_code status;

508

rtems_status_code status;

511

509

512

//**********

510

//**********

513

// SPACEWIRE

511

// SPACEWIRE

514

status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );

512

status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );

515

if (status!=RTEMS_SUCCESSFUL) {

513

if (status!=RTEMS_SUCCESSFUL) {

516

BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")

514

BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")

517

}

515

}

518

516

519

if (status == RTEMS_SUCCESSFUL) // WTDG

517

if (status == RTEMS_SUCCESSFUL) // WTDG

520

{

518

{

521

status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );

519

status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );

522

if (status!=RTEMS_SUCCESSFUL) {

520

if (status!=RTEMS_SUCCESSFUL) {

523

BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")

521

BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")

524

}

522

}

525

}

523

}

526

524

527

if (status == RTEMS_SUCCESSFUL) // ACTN

525

if (status == RTEMS_SUCCESSFUL) // ACTN

528

{

526

{

529

status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );

527

status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );

530

if (status!=RTEMS_SUCCESSFUL) {

528

if (status!=RTEMS_SUCCESSFUL) {

531

BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")

529

BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")

532

}

530

}

533

}

531

}

534

532

535

//******************

533

//******************

536

// SPECTRAL MATRICES

534

// SPECTRAL MATRICES

537

if (status == RTEMS_SUCCESSFUL) // AVF0

535

if (status == RTEMS_SUCCESSFUL) // AVF0

538

{

536

{

539

status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );

537

status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );

540

if (status!=RTEMS_SUCCESSFUL) {

538

if (status!=RTEMS_SUCCESSFUL) {

541

BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")

539

BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")

542

}

540

}

543

}

541

}

544

if (status == RTEMS_SUCCESSFUL) // PRC0

542

if (status == RTEMS_SUCCESSFUL) // PRC0

545

{

543

{

546

status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );

544

status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );

547

if (status!=RTEMS_SUCCESSFUL) {

545

if (status!=RTEMS_SUCCESSFUL) {

548

BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")

546

BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")

549

}

547

}

550

}

548

}

551

if (status == RTEMS_SUCCESSFUL) // AVF1

549

if (status == RTEMS_SUCCESSFUL) // AVF1

552

{

550

{

553

status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );

551

status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );

554

if (status!=RTEMS_SUCCESSFUL) {

552

if (status!=RTEMS_SUCCESSFUL) {

555

BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")

553

BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")

556

}

554

}

557

}

555

}

558

if (status == RTEMS_SUCCESSFUL) // PRC1

556

if (status == RTEMS_SUCCESSFUL) // PRC1

559

{

557

{

560

status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );

558

status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );

561

if (status!=RTEMS_SUCCESSFUL) {

559

if (status!=RTEMS_SUCCESSFUL) {

562

BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")

560

BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")

563

}

561

}

564

}

562

}

565

if (status == RTEMS_SUCCESSFUL) // AVF2

563

if (status == RTEMS_SUCCESSFUL) // AVF2

566

{

564

{

567

status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );

565

status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );

568

if (status!=RTEMS_SUCCESSFUL) {

566

if (status!=RTEMS_SUCCESSFUL) {

569

BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")

567

BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")

570

}

568

}

571

}

569

}

572

if (status == RTEMS_SUCCESSFUL) // PRC2

570

if (status == RTEMS_SUCCESSFUL) // PRC2

573

{

571

{

574

status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );

572

status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );

575

if (status!=RTEMS_SUCCESSFUL) {

573

if (status!=RTEMS_SUCCESSFUL) {

576

BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")

574

BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")

577

}

575

}

578

}

576

}

579

577

580

//****************

578

//****************

581

// WAVEFORM PICKER

579

// WAVEFORM PICKER

582

if (status == RTEMS_SUCCESSFUL) // WFRM

580

if (status == RTEMS_SUCCESSFUL) // WFRM

583

{

581

{

584

status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );

582

status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );

585

if (status!=RTEMS_SUCCESSFUL) {

583

if (status!=RTEMS_SUCCESSFUL) {

586

BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")

584

BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")

587

}

585

}

588

}

586

}

589

if (status == RTEMS_SUCCESSFUL) // CWF3

587

if (status == RTEMS_SUCCESSFUL) // CWF3

590

{

588

{

591

status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );

589

status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );

592

if (status!=RTEMS_SUCCESSFUL) {

590

if (status!=RTEMS_SUCCESSFUL) {

593

BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")

591

BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")

594

}

592

}

595

}

593

}

596

if (status == RTEMS_SUCCESSFUL) // CWF2

594

if (status == RTEMS_SUCCESSFUL) // CWF2

597

{

595

{

598

status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );

596

status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );

599

if (status!=RTEMS_SUCCESSFUL) {

597

if (status!=RTEMS_SUCCESSFUL) {

600

BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")

598

BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")

601

}

599

}

602

}

600

}

603

if (status == RTEMS_SUCCESSFUL) // CWF1

601

if (status == RTEMS_SUCCESSFUL) // CWF1

604

{

602

{

605

status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );

603

status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );

606

if (status!=RTEMS_SUCCESSFUL) {

604

if (status!=RTEMS_SUCCESSFUL) {

607

BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")

605

BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")

608

}

606

}

609

}

607

}

610

if (status == RTEMS_SUCCESSFUL) // SWBD

608

if (status == RTEMS_SUCCESSFUL) // SWBD

611

{

609

{

612

status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );

610

status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );

613

if (status!=RTEMS_SUCCESSFUL) {

611

if (status!=RTEMS_SUCCESSFUL) {

614

BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")

612

BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")

615

}

613

}

616

}

614

}

617

615

618

//*****

616

//*****

619

// MISC

617

// MISC

620

if (status == RTEMS_SUCCESSFUL) // HOUS

618

if (status == RTEMS_SUCCESSFUL) // HOUS

621

{

619

{

622

status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );

620

status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );

623

if (status!=RTEMS_SUCCESSFUL) {

621

if (status!=RTEMS_SUCCESSFUL) {

624

BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")

622

BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")

625

}

623

}

626

}

624

}

627

if (status == RTEMS_SUCCESSFUL) // DUMB

625

if (status == RTEMS_SUCCESSFUL) // DUMB

628

{

626

{

629

status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );

627

status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );

630

if (status!=RTEMS_SUCCESSFUL) {

628

if (status!=RTEMS_SUCCESSFUL) {

631

BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")

629

BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")

632

}

630

}

633

}

631

}

634

if (status == RTEMS_SUCCESSFUL) // STAT

632

if (status == RTEMS_SUCCESSFUL) // STAT

635

{

633

{

636

status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );

634

status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );

637

if (status!=RTEMS_SUCCESSFUL) {

635

if (status!=RTEMS_SUCCESSFUL) {

638

BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")

636

BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")

639

}

637

}

640

}

638

}

641

639

642

return status;

640

return status;

643

}

641

}

644

642

645

rtems_status_code create_message_queues( void ) // create the two message queues used in the software

643

rtems_status_code create_message_queues( void ) // create the two message queues used in the software

646

{

644

{

647

rtems_status_code status_recv;

645

rtems_status_code status_recv;

648

rtems_status_code status_send;

646

rtems_status_code status_send;

649

rtems_status_code status_q_p0;

647

rtems_status_code status_q_p0;

650

rtems_status_code status_q_p1;

648

rtems_status_code status_q_p1;

651

rtems_status_code status_q_p2;

649

rtems_status_code status_q_p2;

652

rtems_status_code ret;

650

rtems_status_code ret;

653

rtems_id queue_id;

651

rtems_id queue_id;

654

652

655

//****************************************

653

//****************************************

656

// create the queue for handling valid TCs

654

// create the queue for handling valid TCs

657

status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],

655

status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],

658

MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,

656

MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,

659

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

657

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

660

if ( status_recv != RTEMS_SUCCESSFUL ) {

658

if ( status_recv != RTEMS_SUCCESSFUL ) {

661

PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)

659

PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)

662

}

660

}

663

661

664

//************************************************

662

//************************************************

665

// create the queue for handling TM packet sending

663

// create the queue for handling TM packet sending

666

status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],

664

status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],

667

MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,

665

MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,

668

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

666

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

669

if ( status_send != RTEMS_SUCCESSFUL ) {

667

if ( status_send != RTEMS_SUCCESSFUL ) {

670

PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)

668

PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)

671

}

669

}

672

670

673

//*****************************************************************************

671

//*****************************************************************************

674

// create the queue for handling averaged spectral matrices for processing @ f0

672

// create the queue for handling averaged spectral matrices for processing @ f0

675

status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],

673

status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],

676

MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,

674

MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,

677

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

675

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

678

if ( status_q_p0 != RTEMS_SUCCESSFUL ) {

676

if ( status_q_p0 != RTEMS_SUCCESSFUL ) {

679

PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)

677

PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)

680

}

678

}

681

679

682

//*****************************************************************************

680

//*****************************************************************************

683

// create the queue for handling averaged spectral matrices for processing @ f1

681

// create the queue for handling averaged spectral matrices for processing @ f1

684

status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],

682

status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],

685

MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,

683

MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,

686

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

684

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

687

if ( status_q_p1 != RTEMS_SUCCESSFUL ) {

685

if ( status_q_p1 != RTEMS_SUCCESSFUL ) {

688

PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)

686

PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)

689

}

687

}

690

688

691

//*****************************************************************************

689

//*****************************************************************************

692

// create the queue for handling averaged spectral matrices for processing @ f2

690

// create the queue for handling averaged spectral matrices for processing @ f2

693

status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],

691

status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],

694

MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,

692

MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,

695

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

693

RTEMS_FIFO | RTEMS_LOCAL, &queue_id );

696

if ( status_q_p2 != RTEMS_SUCCESSFUL ) {

694

if ( status_q_p2 != RTEMS_SUCCESSFUL ) {

697

PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)

695

PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)

698

}

696

}

699

697

700

if ( status_recv != RTEMS_SUCCESSFUL )

698

if ( status_recv != RTEMS_SUCCESSFUL )

701

{

699

{

702

ret = status_recv;

700

ret = status_recv;

703

}

701

}

704

else if( status_send != RTEMS_SUCCESSFUL )

702

else if( status_send != RTEMS_SUCCESSFUL )

705

{

703

{

706

ret = status_send;

704

ret = status_send;

707

}

705

}

708

else if( status_q_p0 != RTEMS_SUCCESSFUL )

706

else if( status_q_p0 != RTEMS_SUCCESSFUL )

709

{

707

{

710

ret = status_q_p0;

708

ret = status_q_p0;

711

}

709

}

712

else if( status_q_p1 != RTEMS_SUCCESSFUL )

710

else if( status_q_p1 != RTEMS_SUCCESSFUL )

713

{

711

{

714

ret = status_q_p1;

712

ret = status_q_p1;

715

}

713

}

716

else

714

else

717

{

715

{

718

ret = status_q_p2;

716

ret = status_q_p2;

719

}

717

}

720

718

721

return ret;

719

return ret;

722

}

720

}

723

721

724

rtems_status_code get_message_queue_id_send( rtems_id *queue_id )

722

rtems_status_code get_message_queue_id_send( rtems_id *queue_id )

725

{

723

{

726

rtems_status_code status;

724

rtems_status_code status;

727

rtems_name queue_name;

725

rtems_name queue_name;

728

726

729

queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );

727

queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );

730

728

731

status = rtems_message_queue_ident( queue_name, 0, queue_id );

729

status = rtems_message_queue_ident( queue_name, 0, queue_id );

732

730

733

return status;

731

return status;

734

}

732

}

735

733

736

rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )

734

rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )

737

{

735

{

738

rtems_status_code status;

736

rtems_status_code status;

739

rtems_name queue_name;

737

rtems_name queue_name;

740

738

741

queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );

739

queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );

742

740

743

status = rtems_message_queue_ident( queue_name, 0, queue_id );

741

status = rtems_message_queue_ident( queue_name, 0, queue_id );

744

742

745

return status;

743

return status;

746

}

744

}

747

745

748

rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )

746

rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )

749

{

747

{

750

rtems_status_code status;

748

rtems_status_code status;

751

rtems_name queue_name;

749

rtems_name queue_name;

752

750

753

queue_name = rtems_build_name( 'Q', '_', 'P', '0' );

751

queue_name = rtems_build_name( 'Q', '_', 'P', '0' );

754

752

755

status = rtems_message_queue_ident( queue_name, 0, queue_id );

753

status = rtems_message_queue_ident( queue_name, 0, queue_id );

756

754

757

return status;

755

return status;

758

}

756

}

759

757

760

rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )

758

rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )

761

{

759

{

762

rtems_status_code status;

760

rtems_status_code status;

763

rtems_name queue_name;

761

rtems_name queue_name;

764

762

765

queue_name = rtems_build_name( 'Q', '_', 'P', '1' );

763

queue_name = rtems_build_name( 'Q', '_', 'P', '1' );

766

764

767

status = rtems_message_queue_ident( queue_name, 0, queue_id );

765

status = rtems_message_queue_ident( queue_name, 0, queue_id );

768

766

769

return status;

767

return status;

770

}

768

}

771

769

772

rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )

770

rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )

773

{

771

{

774

rtems_status_code status;

772

rtems_status_code status;

775

rtems_name queue_name;

773

rtems_name queue_name;

776

774

777

queue_name = rtems_build_name( 'Q', '_', 'P', '2' );

775

queue_name = rtems_build_name( 'Q', '_', 'P', '2' );

778

776

779

status = rtems_message_queue_ident( queue_name, 0, queue_id );

777

status = rtems_message_queue_ident( queue_name, 0, queue_id );

780

778

781

return status;

779

return status;

782

}

780

}

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             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.6) on: Fri Jun 20 15:19:24 2014
+            # Generated by qmake (2.01a) (Qt 4.8.6) on: Mon Jun 23 07:48:42 2014
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
             DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=12 -DPRINT_MESSAGES_ON_CONSOLE
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../header/processing -I../src/LFR_basic-parameters
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c \
             		../src/tc_load_dump_parameters.c \
             		../src/tm_lfr_tc_exe.c \
             		../src/tc_acceptance.c \
             		../src/processing/fsw_processing.c \
             		../src/processing/avf0_prc0.c \
             		../src/processing/avf1_prc1.c \
             		../src/processing/avf2_prc2.c \
             		../src/lfr_cpu_usage_report.c \
             		../src/LFR_basic-parameters/basic_parameters.c
             OBJECTS       = obj/wf_handler.o \
             		obj/tc_handler.o \
             		obj/fsw_misc.o \
             		obj/fsw_init.o \
             		obj/fsw_globals.o \
             		obj/fsw_spacewire.o \
             		obj/tc_load_dump_parameters.o \
             		obj/tm_lfr_tc_exe.o \
             		obj/tc_acceptance.o \
             		obj/fsw_processing.o \
             		obj/avf0_prc0.o \
             		obj/avf1_prc1.o \
             		obj/avf2_prc2.o \
             		obj/lfr_cpu_usage_report.o \
             		obj/basic_parameters.o
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
             		fsw-qt.pro
             QMAKE_TARGET  = fsw
             DESTDIR       = bin/
             TARGET        = bin/fsw
             first: all
             ####### Implicit rules
             .SUFFIXES: .o .c .cpp .cc .cxx .C
             .cpp.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cc.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cxx.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .C.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .c.o:
             	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
             ####### Build rules
             all: Makefile $(TARGET)
             $(TARGET):  $(OBJECTS)
             	@$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
             	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
             Makefile: fsw-qt.pro  /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
             	$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             /usr/lib64/qt4/mkspecs/common/unix.conf:
             /usr/lib64/qt4/mkspecs/common/linux.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
             /usr/lib64/qt4/mkspecs/common/g++-base.conf:
             /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
             /usr/lib64/qt4/mkspecs/qconfig.pri:
             /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
             /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
             /usr/lib64/qt4/mkspecs/features/qt_config.prf:
             /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
             /usr/lib64/qt4/mkspecs/features/default_pre.prf:
             sparc.pri:
             /usr/lib64/qt4/mkspecs/features/release.prf:
             /usr/lib64/qt4/mkspecs/features/default_post.prf:
             /usr/lib64/qt4/mkspecs/features/shared.prf:
             /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
             /usr/lib64/qt4/mkspecs/features/warn_on.prf:
             /usr/lib64/qt4/mkspecs/features/resources.prf:
             /usr/lib64/qt4/mkspecs/features/uic.prf:
             /usr/lib64/qt4/mkspecs/features/yacc.prf:
             /usr/lib64/qt4/mkspecs/features/lex.prf:
             /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
             qmake:  FORCE
             	@$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             dist:
             	@$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
             	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw1.0.0/ && (cd `dirname obj/fsw1.0.0` && $(TAR) fsw1.0.0.tar fsw1.0.0 && $(COMPRESS) fsw1.0.0.tar) && $(MOVE) `dirname obj/fsw1.0.0`/fsw1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw1.0.0
             clean:compiler_clean
             	-$(DEL_FILE) $(OBJECTS)
             	-$(DEL_FILE) *~ core *.core
             ####### Sub-libraries
             distclean: clean
             	-$(DEL_FILE) $(TARGET)
             	-$(DEL_FILE) Makefile
             grmon:
             	cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
             check: first
             compiler_rcc_make_all:
             compiler_rcc_clean:
             compiler_uic_make_all:
             compiler_uic_clean:
             compiler_image_collection_make_all: qmake_image_collection.cpp
             compiler_image_collection_clean:
             	-$(DEL_FILE) qmake_image_collection.cpp
             compiler_yacc_decl_make_all:
             compiler_yacc_decl_clean:
             compiler_yacc_impl_make_all:
             compiler_yacc_impl_clean:
             compiler_lex_make_all:
             compiler_lex_clean:
             compiler_clean:
             ####### Compile
             obj/wf_handler.o: ../src/wf_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
             obj/tc_handler.o: ../src/tc_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
             obj/fsw_spacewire.o: ../src/fsw_spacewire.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
             obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
             obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
             obj/tc_acceptance.o: ../src/tc_acceptance.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
             obj/fsw_processing.o: ../src/processing/fsw_processing.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/processing/fsw_processing.c
             obj/avf0_prc0.o: ../src/processing/avf0_prc0.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/avf0_prc0.o ../src/processing/avf0_prc0.c
             obj/avf1_prc1.o: ../src/processing/avf1_prc1.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/avf1_prc1.o ../src/processing/avf1_prc1.c
             obj/avf2_prc2.o: ../src/processing/avf2_prc2.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/avf2_prc2.o ../src/processing/avf2_prc2.c
             obj/lfr_cpu_usage_report.o: ../src/lfr_cpu_usage_report.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/lfr_cpu_usage_report.o ../src/lfr_cpu_usage_report.c
             obj/basic_parameters.o: ../src/LFR_basic-parameters/basic_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/basic_parameters.o ../src/LFR_basic-parameters/basic_parameters.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5  // STAT (1s), send SWF (0.3s), send CWF3 (1s)
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 unsigned char *vhdlVersion;
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 enable_apbuart_transmitter();
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d            **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 // waveform picker initialization
                 WFP_init_rings();      // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //******************************
                 // <SPECTRAL MATRICES SIMULATOR>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );
                 // </SPECTRAL MATRICES SIMULATOR>
                 //*******************************
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
-                send_dumb_hk();
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = 0x00;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    0x00;
                 sequenceCounterHK =                     TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                 sequenceCounterParameterDump =          TM_PACKET_SEQ_CTRL_STANDALONE << 8;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = 0x02;  // software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WTDG
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // STAT
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                     );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WTDG
                 {
                     status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // STAT
                 {
                     status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }