HG_REPOSITORIES/LPP/INSTRUMENTATION/SOLO_LFR/DEV_PLE Commit - r316:f8bdd7f20886

Bug corrected, TC with Length > 228 are dropped by the driver, not parsed

paul -

r316:f8bdd7f20886 R3_plus

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r316:f8bdd7f20886

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.hgsubstate +1 -1

@@ -1,2 +1,2
1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters	1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
2	57edc38eadba4601cf0b1e2fa1eeab85082e9f41 header/lfr_common_headers	2	3e4216a0e6981bead8bcb201012ebadb53f60dff header/lfr_common_headers

src/fsw_spacewire.c +11 -1

             /** Functions related to the SpaceWire interface.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle SpaceWire transmissions:
              * - configuration of the SpaceWire link
              * - SpaceWire related interruption requests processing
              * - transmission of TeleMetry packets by a dedicated RTEMS task
              * - reception of TeleCommands by a dedicated RTEMS task
              *
              */
             #include "fsw_spacewire.h"
             rtems_name semq_name;
             rtems_id semq_id;
             //*****************
             // waveform headers
             Header_TM_LFR_SCIENCE_CWF_t headerCWF;
             Header_TM_LFR_SCIENCE_SWF_t headerSWF;
             Header_TM_LFR_SCIENCE_ASM_t headerASM;
             unsigned char previousTimecodeCtr = 0;
             unsigned int *grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER);
             //***********
             // RTEMS TASK
             rtems_task spiq_task(rtems_task_argument unused)
             {
                 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in SPIQ *** \n")
                 while(true){
                     rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
                     PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
                     // [0] SUSPEND RECV AND SEND TASKS
                     status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending RECV Task\n")
                     }
                     status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending SEND Task\n")
                     }
                     // [1] CHECK THE LINK
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (1)
                     if ( linkStatus != 5) {
                         PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
                         status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     }
                     // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (2)
                     if ( linkStatus != 5 )  // [2.a] not in run state, reset the link
                     {
                         spacewire_read_statistics();
                         status = spacewire_several_connect_attemps( );
                     }
                     else                    // [2.b] in run state, start the link
                     {
                         status = spacewire_stop_and_start_link( fdSPW ); // start the link
                         if ( status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status)
                         }
                     }
                     // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
                     if ( status == RTEMS_SUCCESSFUL )   // [3.a] the link is in run state and has been started successfully
                     {
                         status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming SEND Task\n")
                         }
                         status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                         }
                     }
                     else                                // [3.b] the link is not in run state, go in STANDBY mode
                     {
                         status = enter_mode_standby();
                         if ( status != RTEMS_SUCCESSFUL )
                         {
                             PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
                         }
                         {
                             updateLFRCurrentMode( LFR_MODE_STANDBY );
                         }
                         // wake the LINK task up to wait for the link recovery
                         status =  rtems_event_send ( Task_id[TASKID_LINK], RTEMS_EVENT_0 );
                         status = rtems_task_suspend( RTEMS_SELF );
                     }
                 }
             }
             rtems_task recv_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
                  * 1. It reads the incoming data.
                  * 2. Launches the acceptance procedure.
                  * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
                  *
                  */
                 int len;
                 ccsdsTelecommandPacket_t currentTC;
                 unsigned char computed_CRC[ 2 ];
                 unsigned char currentTC_LEN_RCV[ 2 ];
                 unsigned char destinationID;
                 unsigned int estimatedPacketLength;
                 unsigned int parserCode;
                 rtems_status_code status;
                 rtems_id queue_recv_id;
                 rtems_id queue_send_id;
                 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                 status =  get_message_queue_id_recv( &queue_recv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                     }
                     else {
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("in RECV *** packet lenght too short\n")
                         }
                         else {
-            //                PRINTF1("incoming TC with len: %d\n", len);
                             estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
+                            PRINTF1("incoming TC with Length (byte): %d\n", len - 3);
                             currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8);
                             currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength     );
                             // CHECK THE TC
                             parserCode = tc_parser( &currentTC, estimatedPacketLength, computed_CRC ) ;
                             if ( (parserCode == ILLEGAL_APID)       || (parserCode == WRONG_LEN_PKT)
                                  || (parserCode == INCOR_CHECKSUM)  || (parserCode == ILL_TYPE)
                                  || (parserCode == ILL_SUBTYPE)     || (parserCode == WRONG_APP_DATA)
                                  || (parserCode == WRONG_SRC_ID) )
                             { // send TM_LFR_TC_EXE_CORRUPTED
                                 PRINTF1("TC corrupted received, with code: %d\n", parserCode);
                                 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                                      &&
                                      !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
                                      )
                                 {
                                     if ( parserCode == WRONG_SRC_ID )
                                     {
                                         destinationID = SID_TC_GROUND;
                                     }
                                     else
                                     {
                                         destinationID = currentTC.sourceID;
                                     }
                                     send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
                                                                   computed_CRC, currentTC_LEN_RCV,
                                                                   destinationID );
                                 }
                             }
                             else
                             { // send valid TC to the action launcher
                                 status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                     estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3);
                             }
                         }
                     }
                     update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max );
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;                // RTEMS status code
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 ring_node *incomingRingNodePtr;
                 int ring_node_address;
                 char *charPtr;
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
                 rtems_id queue_send_id;
                 unsigned int sid;
                 unsigned char sidAsUnsignedChar;
                 unsigned char type;
                 incomingRingNodePtr = NULL;
                 ring_node_address = 0;
                 charPtr = (char *) &ring_node_address;
                 sid = 0;
                 sidAsUnsignedChar = 0;
                 init_header_cwf( &headerCWF );
                 init_header_swf( &headerSWF );
                 init_header_asm( &headerASM );
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in SEND *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_send_id, incomingData, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (1) ERR = %d\n", status)
                     }
                     else
                     {
                         if ( size == sizeof(ring_node*) )
                         {
                             charPtr[0] = incomingData[0];
                             charPtr[1] = incomingData[1];
                             charPtr[2] = incomingData[2];
                             charPtr[3] = incomingData[3];
                             incomingRingNodePtr = (ring_node*) ring_node_address;
                             sid = incomingRingNodePtr->sid;
                             if ( (sid==SID_NORM_CWF_LONG_F3)
                                  || (sid==SID_BURST_CWF_F2 )
                                  || (sid==SID_SBM1_CWF_F1  )
                                  || (sid==SID_SBM2_CWF_F2  ))
                             {
                                 spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF );
                             }
                             else if ( (sid==SID_NORM_SWF_F0) || (sid== SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) )
                             {
                                 spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF );
                             }
                             else if ( (sid==SID_NORM_CWF_F3) )
                             {
                                 spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF );
                             }
                             else if (sid==SID_NORM_ASM_F0)
                             {
                                 spw_send_asm_f0( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F1)
                             {
                                 spw_send_asm_f1( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F2)
                             {
                                 spw_send_asm_f2( incomingRingNodePtr, &headerASM );
                             }
                             else if ( sid==TM_CODE_K_DUMP )
                             {
                                 spw_send_k_dump( incomingRingNodePtr );
                             }
                             else
                             {
                                 PRINTF1("unexpected sid = %d\n", sid);
                             }
                         }
                         else if ( incomingData[0] == CCSDS_DESTINATION_ID ) // the incoming message is a ccsds packet
                         {
                             sidAsUnsignedChar = (unsigned char) incomingData[ PACKET_POS_PA_LFR_SID_PKT ];
                             sid = sidAsUnsignedChar;
                             type = (unsigned char) incomingData[ PACKET_POS_SERVICE_TYPE ];
                             if (type == TM_TYPE_LFR_SCIENCE)    // this is a BP packet, all other types are handled differently
                             // SET THE SEQUENCE_CNT PARAMETER IN CASE OF BP0 OR BP1 PACKETS
                             {
                                 increment_seq_counter_source_id( (unsigned char*) &incomingData[ PACKET_POS_SEQUENCE_CNT ], sid );
                             }
                             status = write( fdSPW, incomingData, size );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                             }
                         }
                         else // the incoming message is a spw_ioctl_pkt_send structure
                         {
                             spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
                             status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
                             }
                         }
                     }
                     update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max );
                 }
             }
             rtems_task link_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in LINK ***\n")
                 while(1)
                 {
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("in LINK *** wait for the link\n")
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);       // get the link status
                     while( linkStatus != 5)                                                     // wait for the link
                     {
                         status = rtems_task_wake_after( 10 );                                   // monitor the link each 100ms
                         status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
                         watchdog_reload();
                     }
                     spacewire_read_statistics();
                     status = spacewire_stop_and_start_link( fdSPW );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in LINK *** ERR link not started %d\n", status)
                     }
                     else
                     {
                         PRINTF("in LINK *** OK  link started\n")
                     }
                     // restart the SPIQ task
                     status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
                     }
                     // restart RECV and SEND
                     status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SEND Task\n")
                     }
                     status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting RECV Task\n")
                     }
                 }
             }
             //****************
             // OTHER FUNCTIONS
             int spacewire_open_link( void )  // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);]
             {
                 /** This function opens the SpaceWire link.
                  *
                  * @return a valid file descriptor in case of success, -1 in case of a failure
                  *
                  */
                 rtems_status_code status;
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
                 if ( fdSPW < 0 ) {
                     PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
             int spacewire_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_stop_and_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_STOP);      // start fails if link pDev->running != 0
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_configure_link( int fd )
             {
                 /** This function configures the SpaceWire link.
                  *
                  * @return GR-RTEMS-DRIVER directive status codes:
                  * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                  * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                  * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                  * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                  * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                  * - 5   EIO - Error when writing to grswp hardware registers.
                  * - 2   ENOENT - No such file or directory
                  */
                 rtems_status_code status;
                 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
+                spw_ioctl_packetsize packetsize;
+                packetsize.rxsize = 228;
+                packetsize.txdsize = 4096;
+                packetsize.txhsize = 34;
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n")          // link-error interrupt occurs
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 1);              // transmission blocks
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);      // transmission blocks when no transmission descriptor is available
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                 }
+                //
+                status = ioctl(fd, SPACEWIRE_IOCTRL_SET_PACKETSIZE, packetsize); // set rxsize, txdsize and txhsize
+                if (status!=RTEMS_SUCCESSFUL) {
+                    PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_PACKETSIZE,\n")
+                }
                 return status;
             }
             int spacewire_several_connect_attemps( void )
             {
                 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
                  * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
                  *
                  */
                 rtems_status_code status_spw;
                 rtems_status_code status;
                 int i;
                 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
                 {
                     PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
                     // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
                     status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     status_spw = spacewire_stop_and_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
                     }
                     if ( status_spw == RTEMS_SUCCESSFUL)
                     {
                         break;
                     }
                 }
                 return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & 0xffdfffff;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             void spacewire_read_statistics( void )
             {
                 /** This function reads the SpaceWire statistics from the grspw RTEMS driver.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * Once they are read, the counters are stored in a global variable used during the building of the
                  * HK packets.
                  *
                  */
                 rtems_status_code status;
                 spw_stats current;
                 spacewire_get_last_error();
                 // read the current statistics
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &current );
                 // clear the counters
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS );
             //    typedef struct {
             //        unsigned int tx_link_err;             // NOT IN HK
             //        unsigned int rx_rmap_header_crc_err;  // NOT IN HK
             //        unsigned int rx_rmap_data_crc_err;    // NOT IN HK
             //        unsigned int rx_eep_err;
             //        unsigned int rx_truncated;
             //        unsigned int parity_err;
             //        unsigned int escape_err;
             //        unsigned int credit_err;
             //        unsigned int write_sync_err;
             //        unsigned int disconnect_err;
             //        unsigned int early_ep;
             //        unsigned int invalid_address;
             //        unsigned int packets_sent;
             //        unsigned int packets_received;
             //    } spw_stats;
                 // rx_eep_err
                 grspw_stats.rx_eep_err      = grspw_stats.rx_eep_err        + current.rx_eep_err;
                 // rx_truncated
                 grspw_stats.rx_truncated    = grspw_stats.rx_truncated      + current.rx_truncated;
                 // parity_err
                 grspw_stats.parity_err      = grspw_stats.parity_err        + current.parity_err;
                 // escape_err
                 grspw_stats.escape_err      = grspw_stats.escape_err        + current.escape_err;
                 // credit_err
                 grspw_stats.credit_err      = grspw_stats.credit_err        + current.credit_err;
                 // write_sync_err
                 grspw_stats.write_sync_err  = grspw_stats.write_sync_err    + current.write_sync_err;
                 // disconnect_err
                 grspw_stats.disconnect_err  = grspw_stats.disconnect_err    + current.disconnect_err;
                 // early_ep
                 grspw_stats.early_ep        = grspw_stats.early_ep          + current.early_ep;
                 // invalid_address
                 grspw_stats.invalid_address = grspw_stats.invalid_address   + current.invalid_address;
                 // packets_sent
                 grspw_stats.packets_sent    = grspw_stats.packets_sent      + current.packets_sent;
                 // packets_received
                 grspw_stats.packets_received= grspw_stats.packets_received  + current.packets_received;
             }
             void spacewire_get_last_error( void )
             {
                 static spw_stats previous;
                 spw_stats current;
                 rtems_status_code status;
                 unsigned int  hk_lfr_last_er_rid;
                 unsigned char hk_lfr_last_er_code;
                 int coarseTime;
                 int fineTime;
                 unsigned char update_hk_lfr_last_er;
                 update_hk_lfr_last_er = 0;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &current );
                 // get current time
                 coarseTime = time_management_regs->coarse_time;
                 fineTime   = time_management_regs->fine_time;
                 //    typedef struct {
                 //        unsigned int tx_link_err;             // NOT IN HK
                 //        unsigned int rx_rmap_header_crc_err;  // NOT IN HK
                 //        unsigned int rx_rmap_data_crc_err;    // NOT IN HK
                 //        unsigned int rx_eep_err;
                 //        unsigned int rx_truncated;
                 //        unsigned int parity_err;
                 //        unsigned int escape_err;
                 //        unsigned int credit_err;
                 //        unsigned int write_sync_err;
                 //        unsigned int disconnect_err;
                 //        unsigned int early_ep;
                 //        unsigned int invalid_address;
                 //        unsigned int packets_sent;
                 //        unsigned int packets_received;
                 //    } spw_stats;
                 // tx_link_err *** no code associated to this field
                 // rx_rmap_header_crc_err ***  LE *** in HK
                 if (previous.rx_rmap_header_crc_err != current.rx_rmap_header_crc_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_HEADER_CRC;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_rmap_data_crc_err ***  LE *** NOT IN HK
                 if (previous.rx_rmap_data_crc_err != current.rx_rmap_data_crc_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_DATA_CRC;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_eep_err
                 if (previous.rx_eep_err != current.rx_eep_err)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_EEP;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_truncated
                 if (previous.rx_truncated != current.rx_truncated)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_RX_TOO_BIG;
                     update_hk_lfr_last_er = 1;
                 }
                 // parity_err
                 if (previous.parity_err != current.parity_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_PARITY;
                     update_hk_lfr_last_er = 1;
                 }
                 // escape_err
                 if (previous.parity_err != current.parity_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_ESCAPE;
                     update_hk_lfr_last_er = 1;
                 }
                 // credit_err
                 if (previous.credit_err != current.credit_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_CREDIT;
                     update_hk_lfr_last_er = 1;
                 }
                 // write_sync_err
                 if (previous.write_sync_err != current.write_sync_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_WRITE_SYNC;
                     update_hk_lfr_last_er = 1;
                 }
                 // disconnect_err
                 if (previous.disconnect_err != current.disconnect_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_DISCONNECT;
                     update_hk_lfr_last_er = 1;
                 }
                 // early_ep
                 if (previous.early_ep != current.early_ep)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_EARLY_EOP_EEP;
                     update_hk_lfr_last_er = 1;
                 }
                 // invalid_address
                 if (previous.invalid_address != current.invalid_address)
                 {
                     hk_lfr_last_er_rid = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_INVALID_ADDRESS;
                     update_hk_lfr_last_er = 1;
                 }
                 // if a field has changed, update the hk_last_er fields
                 if (update_hk_lfr_last_er == 1)
                 {
                     update_hk_lfr_last_er_fields( hk_lfr_last_er_rid, hk_lfr_last_er_code );
                 }
                 previous = current;
             }
             void update_hk_lfr_last_er_fields(unsigned int rid, unsigned char code)
             {
                 unsigned char *coarseTimePtr;
                 unsigned char *fineTimePtr;
                 coarseTimePtr = (unsigned char*) &time_management_regs->coarse_time;
                 fineTimePtr = (unsigned char*) &time_management_regs->fine_time;
                 housekeeping_packet.hk_lfr_last_er_rid[0]   = (unsigned char) ((rid & 0xff00) >> 8 );
                 housekeeping_packet.hk_lfr_last_er_rid[1]   = (unsigned char)  (rid & 0x00ff);
                 housekeeping_packet.hk_lfr_last_er_code     = code;
                 housekeeping_packet.hk_lfr_last_er_time[0]  = coarseTimePtr[0];
                 housekeeping_packet.hk_lfr_last_er_time[1]  = coarseTimePtr[1];
                 housekeeping_packet.hk_lfr_last_er_time[2]  = coarseTimePtr[2];
                 housekeeping_packet.hk_lfr_last_er_time[3]  = coarseTimePtr[3];
                 housekeeping_packet.hk_lfr_last_er_time[4]  = fineTimePtr[2];
                 housekeeping_packet.hk_lfr_last_er_time[5]  = fineTimePtr[3];
             }
             void update_hk_with_grspw_stats( void )
             {
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0]   = (unsigned char) (grspw_stats.packets_received >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1]   = (unsigned char) (grspw_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0]  = (unsigned char) (grspw_stats.packets_sent >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1]  = (unsigned char) (grspw_stats.packets_sent);
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity       = (unsigned char) grspw_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect   = (unsigned char) grspw_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape       = (unsigned char) grspw_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit       = (unsigned char) grspw_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync   = (unsigned char) grspw_stats.write_sync_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop    = (unsigned char) grspw_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) grspw_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep          = (unsigned char) grspw_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big   = (unsigned char) grspw_stats.rx_truncated;
             }
             void spacewire_update_hk_lfr_link_state( unsigned char *hk_lfr_status_word_0 )
             {
                 unsigned int *statusRegisterPtr;
                 unsigned char linkState;
                 statusRegisterPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_STATUS_REGISTER);
                 linkState = (unsigned char) ( ( (*statusRegisterPtr) >>  21) & 0x07);   // [0000 0111]
                 *hk_lfr_status_word_0 = *hk_lfr_status_word_0 & 0xf8;       // [1111 1000] set link state to 0
                 *hk_lfr_status_word_0 = *hk_lfr_status_word_0 | linkState;  // update hk_lfr_dpu_spw_link_state
             }
             void increase_unsigned_char_counter( unsigned char *counter )
             {
                 // update the number of valid timecodes that have been received
                 if (*counter == 255)
                 {
                     *counter = 0;
                 }
                 else
                 {
                     *counter = *counter + 1;
                 }
             }
             unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr)
             {
                 /** This function checks the coherency between the incoming timecode and the last valid timecode.
                  *
                  * @param currentTimecodeCtr is the incoming timecode
                  *
                  * @return returned codes::
                  * - LFR_DEFAULT
                  * - LFR_SUCCESSFUL
                  *
                  */
                 static unsigned char firstTickout = 1;
                 unsigned char ret;
                 ret = LFR_DEFAULT;
                 if (firstTickout == 0)
                 {
                     if (currentTimecodeCtr == 0)
                     {
                         if (previousTimecodeCtr == 63)
                         {
                             ret = LFR_SUCCESSFUL;
                         }
                         else
                         {
                             ret = LFR_DEFAULT;
                         }
                     }
                     else
                     {
                         if (currentTimecodeCtr == (previousTimecodeCtr +1))
                         {
                             ret = LFR_SUCCESSFUL;
                         }
                         else
                         {
                             ret = LFR_DEFAULT;
                         }
                     }
                 }
                 else
                 {
                     firstTickout = 0;
                     ret = LFR_SUCCESSFUL;
                 }
                 return ret;
             }
             unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime)
             {
                 unsigned int ret;
                 ret = LFR_DEFAULT;
                 if (timecode == internalTime)
                 {
                     ret = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
             {
                 // a tickout has been emitted, perform actions on the incoming timecode
                 unsigned char incomingTimecode;
                 unsigned char updateTime;
                 unsigned char internalTime;
                 rtems_status_code status;
                 incomingTimecode =        (unsigned char) (grspwPtr[0] & TIMECODE_MASK);
                 updateTime    = time_management_regs->coarse_time_load & TIMECODE_MASK;
                 internalTime  = time_management_regs->coarse_time      & TIMECODE_MASK;
                 housekeeping_packet.hk_lfr_dpu_spw_last_timc = incomingTimecode;
                 // update the number of tickout that have been generated
                 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt );
                 //**************************
                 // HK_LFR_TIMECODE_ERRONEOUS
                 // MISSING and INVALID are handled by the timecode_timer_routine service routine
                 if (check_timecode_and_previous_timecode_coherency( incomingTimecode ) == LFR_DEFAULT)
                 {
                     // this is unexpected but a tickout could have been raised despite of the timecode being erroneous
                     increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_erroneous );
                     update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_ERRONEOUS );
                 }
                 //************************
                 // HK_LFR_TIME_TIMECODE_IT
                 // check the coherency between the SpaceWire timecode and the Internal Time
                 if (check_timecode_and_internal_time_coherency( incomingTimecode, internalTime ) == LFR_DEFAULT)
                 {
                     increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_it );
                     update_hk_lfr_last_er_fields( RID_LE_LFR_TIME, CODE_TIMECODE_IT );
                 }
                 //********************
                 // HK_LFR_TIMECODE_CTR
                 // check the value of the timecode with respect to the last TC_LFR_UPDATE_TIME => SSS-CP-FS-370
                 if (oneTcLfrUpdateTimeReceived == 1)
                 {
                     if ( incomingTimecode != updateTime )
                     {
                         increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_ctr );
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIME, CODE_TIMECODE_CTR );
                     }
                 }
                 // launch the timecode timer to detect missing or invalid timecodes
                 previousTimecodeCtr = incomingTimecode;  // update the previousTimecodeCtr value
                 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT, timecode_timer_routine, NULL );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_14 );
                 }
             }
             rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data )
             {
                 static unsigned char initStep = 1;
                 unsigned char currentTimecodeCtr;
                 currentTimecodeCtr = (unsigned char) (grspwPtr[0] & TIMECODE_MASK);
                 if (initStep == 1)
                 {
                     if (currentTimecodeCtr == previousTimecodeCtr)
                     {
                         //************************
                         // HK_LFR_TIMECODE_MISSING
                         // the timecode value has not changed, no valid timecode has been received, the timecode is MISSING
                         increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_missing );
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_MISSING );
                     }
                     else if (currentTimecodeCtr == (previousTimecodeCtr+1))
                     {
                         // the timecode value has changed and the value is valid, this is unexpected because
                         // the timer should not have fired, the timecode_irq_handler should have been raised
                     }
                     else
                     {
                         //************************
                         // HK_LFR_TIMECODE_INVALID
                         // the timecode value has changed and the value is not valid, no tickout has been generated
                         // this is why the timer has fired
                         increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_invalid );
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_INVALID );
                     }
                 }
                 else
                 {
                     initStep = 1;
                     //************************
                     // HK_LFR_TIMECODE_MISSING
                     increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_missing );
                     update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_MISSING );
                 }
                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_13 );
             }
             void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 header->targetLogicalAddress    = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier      = CCSDS_PROTOCOLE_ID;
                 header->reserved                = DEFAULT_RESERVED;
                 header->userApplication         = CCSDS_USER_APP;
                 header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid = 0x00;
                 header->pa_bia_status_info = DEFAULT_HKBIA;
                 header->blkNr[0] = 0x00;
                 header->blkNr[1] = 0x00;
             }
             void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid     = 0x00;
                 header->pa_bia_status_info   = DEFAULT_HKBIA;
                 header->pktCnt  = DEFAULT_PKTCNT;  // PKT_CNT
                 header->pktNr   = 0x00;
                 header->blkNr[0]        = (unsigned char) (BLK_NR_CWF >> 8);
                 header->blkNr[1]        = (unsigned char) (BLK_NR_CWF     );
             }
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid     = 0x00;
                 header->pa_bia_status_info = 0x00;
                 header->pa_lfr_pkt_cnt_asm = 0x00;
                 header->pa_lfr_pkt_nr_asm = 0x00;
                 header->pa_lfr_asm_blk_nr[0] = 0x00;
                 header->pa_lfr_asm_blk_nr[1] = 0x00;
             }
             int spw_send_waveform_CWF( ring_node *ring_node_to_send,
                                   Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = (unsigned char) ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF     );
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr  = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime);
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET PACKET ID
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> 8);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     }
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_SWF( ring_node *ring_node_to_send,
                                    Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF;
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 sid = ring_node_to_send->sid;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_SWF.hdr = (char*) header;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET PACKET LENGTH AND BLKNR
                     if (i == 6)
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_224 >> 8);
                         header->blkNr[1] = (unsigned char) (BLK_NR_224     );
                     }
                     else
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_304 >> 8);
                         header->blkNr[1] = (unsigned char) (BLK_NR_304     );
                     }
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime );
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET SID
                     header->sid = sid;
                     // SET PKTNR
                     header->pktNr = i+1;    // PKT_NR
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send,
                                               Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (char*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
                 //*********************
                 // SEND CWF3_light DATA
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime );
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET PACKET ID
                     header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                     header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             void spw_send_asm_f0( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_asm_f1( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_asm_f2( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT;
                     spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                             ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM )
                             ];
                     length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2;
                     header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3;
                     header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB
                     header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F2);        // BLK_NR LSB
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_k_dump( ring_node *ring_node_to_send )
             {
                 rtems_status_code status;
                 Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump;
                 unsigned int packetLength;
                 unsigned int size;
                 PRINTF("spw_send_k_dump\n")
                 kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address;
                 packetLength = kcoefficients_dump->packetLength[0] * 256 + kcoefficients_dump->packetLength[1];
                 size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 PRINTF2("packetLength %d, size %d\n", packetLength, size )
                 status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size );
                 if (status == -1){
                     PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                 }
                 ring_node_to_send->status = 0x00;
             }

src/tc_acceptance.c +1 -1

             /** Functions related to TeleCommand acceptance.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands parsing.\n
              *
              */
             #include "tc_acceptance.h"
             #include <stdio.h>
             unsigned int lookUpTableForCRC[256];
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 /** This function generate the CRC for one byte and returns the value of the new syndrome.
                  *
                  * @param D is the current byte of data.
                  * @param Chk is the current syndrom value.
                  *
                  * @return the value of the new syndrome on two bytes.
                  *
                  */
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void initLookUpTableForCRC( void )
             {
                 /** This function is used to initiates the look-up table for fast CRC computation.
                  *
                  * The global table lookUpTableForCRC[256] is initiated.
                  *
                  */
                 unsigned int i;
                 unsigned int tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) {
                         tmp = tmp ^ 0x1021;
                     }
                     if((i & 2) != 0) {
                         tmp = tmp ^ 0x2042;
                     }
                     if((i & 4) != 0) {
                         tmp = tmp ^ 0x4084;
                     }
                     if((i & 8) != 0) {
                         tmp = tmp ^ 0x8108;
                     }
                     if((i & 16) != 0) {
                         tmp = tmp ^ 0x1231;
                     }
                     if((i & 32) != 0) {
                         tmp = tmp ^ 0x2462;
                     }
                     if((i & 64) != 0) {
                         tmp = tmp ^ 0x48c4;
                     }
                     if((i & 128) != 0) {
                         tmp = tmp ^ 0x9188;
                     }
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 /** This function calculates a two bytes Cyclic Redundancy Code.
                  *
                  * @param data points to a buffer containing the data on which to compute the CRC.
                  * @param crcAsTwoBytes points points to a two bytes buffer in which the CRC is stored.
                  * @param sizeOfData is the number of bytes of *data* used to compute the CRC.
                  *
                  * The specification of the Cyclic Redundancy Code is described in the following document: ECSS-E-70-41-A.
                  *
                  */
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int estimatedPacketLength, unsigned char *computed_CRC)
             {
                 /** This function parses TeleCommands.
                  *
                  * @param TC points to the TeleCommand that will be parsed.
                  * @param estimatedPacketLength is the PACKET_LENGTH field calculated from the effective length of the received packet.
                  *
                  * @return Status code of the parsing.
                  *
                  * The parsing checks:
                  * - process id
                  * - category
                  * - length: a global check is performed and a per subtype check also
                  * - type
                  * - subtype
                  * - crc
                  *
                  */
                 int status;
                 int status_crc;
                 unsigned char pid;
                 unsigned char category;
                 unsigned int packetLength;
                 unsigned char packetType;
                 unsigned char packetSubtype;
                 unsigned char sid;
                 status = CCSDS_TM_VALID;
                 // APID check *** APID on 2 bytes
                 pid             = ((TCPacket->packetID[0] & 0x07)<<4) + ( (TCPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category        = (TCPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 packetLength    = (TCPacket->packetLength[0] * 256) + TCPacket->packetLength[1];
                 packetType      = TCPacket->serviceType;
                 packetSubtype   = TCPacket->serviceSubType;
                 sid             = TCPacket->sourceID;
                 if ( pid != CCSDS_PROCESS_ID )  // CHECK THE PROCESS ID
                 {
                     status = ILLEGAL_APID;
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE CATEGORY
                 {
                     if ( category != CCSDS_PACKET_CATEGORY )
                     {
                         status = ILLEGAL_APID;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE PACKET_LENGTH FIELD AND THE ESTIMATED PACKET_LENGTH COMPLIANCE
                 {
                     if (packetLength != estimatedPacketLength ) {
                         status = WRONG_LEN_PKT;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THAT THE PACKET DOES NOT EXCEED THE MAX SIZE
                 {
-                    if ( packetLength >= CCSDS_TC_PKT_MAX_SIZE ) {
+                    if ( packetLength > CCSDS_TC_PKT_MAX_SIZE ) {
                         status = WRONG_LEN_PKT;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE TYPE
                 {
                     status = tc_check_type( packetType );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE
                 {
                     status = tc_check_type_subtype( packetType, packetSubtype );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SID
                 {
                     status = tc_check_sid( sid );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE AND LENGTH COMPLIANCE
                 {
                     status = tc_check_length( packetSubtype, packetLength );
                 }
                 status_crc = tc_check_crc( TCPacket, estimatedPacketLength, computed_CRC );
                 if (status == CCSDS_TM_VALID )  // CHECK CRC
                 {
                     status = status_crc;
                 }
                 return status;
             }
             int tc_check_type( unsigned char packetType )
             {
                 /** This function checks that the type of a TeleCommand is valid.
                  *
                  * @param packetType is the type to check.
                  *
                  * @return Status code CCSDS_TM_VALID or ILL_TYPE.
                  *
                  */
                 int status;
                 if ( (packetType == TC_TYPE_GEN) || (packetType == TC_TYPE_TIME))
                 {
                     status = CCSDS_TM_VALID;
                 }
                 else
                 {
                     status = ILL_TYPE;
                 }
                 return status;
             }
             int tc_check_type_subtype( unsigned char packetType, unsigned char packetSubType )
             {
                 /** This function checks that the subtype of a TeleCommand is valid and coherent with the type.
                  *
                  * @param packetType is the type of the TC.
                  * @param packetSubType is the subtype to check.
                  *
                  * @return Status code CCSDS_TM_VALID or ILL_SUBTYPE.
                  *
                  */
                 int status;
                 switch(packetType)
                 {
                 case TC_TYPE_GEN:
                     if ( (packetSubType == TC_SUBTYPE_RESET)
                          || (packetSubType == TC_SUBTYPE_LOAD_COMM)
                          || (packetSubType == TC_SUBTYPE_LOAD_NORM) || (packetSubType == TC_SUBTYPE_LOAD_BURST)
                          || (packetSubType == TC_SUBTYPE_LOAD_SBM1) || (packetSubType == TC_SUBTYPE_LOAD_SBM2)
                          || (packetSubType == TC_SUBTYPE_DUMP)
                          || (packetSubType == TC_SUBTYPE_ENTER)
                          || (packetSubType == TC_SUBTYPE_UPDT_INFO)
                          || (packetSubType == TC_SUBTYPE_EN_CAL)    || (packetSubType == TC_SUBTYPE_DIS_CAL)
                          || (packetSubType == TC_SUBTYPE_LOAD_K)    || (packetSubType == TC_SUBTYPE_DUMP_K)
                          || (packetSubType == TC_SUBTYPE_LOAD_FBINS)
                          || (packetSubType == TC_SUBTYPE_LOAD_FILTER_PAR))
                     {
                         status = CCSDS_TM_VALID;
                     }
                     else
                     {
                         status = ILL_SUBTYPE;
                     }
                     break;
                 case TC_TYPE_TIME:
                     if (packetSubType == TC_SUBTYPE_UPDT_TIME)
                     {
                         status = CCSDS_TM_VALID;
                     }
                     else
                     {
                         status = ILL_SUBTYPE;
                     }
                     break;
                 default:
                     status = ILL_SUBTYPE;
                     break;
                 }
                 return status;
             }
             int tc_check_sid( unsigned char sid )
             {
                 /** This function checks that the sid of a TeleCommand is valid.
                  *
                  * @param sid is the sid to check.
                  *
                  * @return Status code CCSDS_TM_VALID or CORRUPTED.
                  *
                  */
                 int status;
                 if ( (sid == SID_TC_MISSION_TIMELINE) || (sid == SID_TC_TC_SEQUENCES)   || (sid == SID_TC_RECOVERY_ACTION_CMD)
                      || (sid == SID_TC_BACKUP_MISSION_TIMELINE)
                      || (sid == SID_TC_DIRECT_CMD)       || (sid == SID_TC_SPARE_GRD_SRC1) || (sid == SID_TC_SPARE_GRD_SRC2)
                      || (sid == SID_TC_OBCP)             || (sid == SID_TC_SYSTEM_CONTROL) || (sid == SID_TC_AOCS)
                      || (sid == SID_TC_RPW_INTERNAL))
                 {
                     status = CCSDS_TM_VALID;
                 }
                 else
                 {
                     status = WRONG_SRC_ID;
                 }
                 return status;
             }
             int tc_check_length( unsigned char packetSubType, unsigned int length )
             {
                 /** This function checks that the subtype and the length are compliant.
                  *
                  * @param packetSubType is the subtype to check.
                  * @param length is the length to check.
                  *
                  * @return Status code CCSDS_TM_VALID or ILL_TYPE.
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 switch(packetSubType)
                 {
                 case TC_SUBTYPE_RESET:
                     if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_COMM:
                     if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_NORM:
                     if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_BURST:
                     if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_SBM1:
                     if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_SBM2:
                     if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DUMP:
                     if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_ENTER:
                     if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_UPDT_INFO:
                     if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_EN_CAL:
                     if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DIS_CAL:
                     if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_K:
                     if (length!=(TC_LEN_LOAD_K-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DUMP_K:
                     if (length!=(TC_LEN_DUMP_K-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_FBINS:
                     if (length!=(TC_LEN_LOAD_FBINS-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_FILTER_PAR:
                     if (length!=(TC_LEN_LOAD_FILTER_PAR-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_UPDT_TIME:
                     if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 default: // if the subtype is not a legal value, return ILL_SUBTYPE
                     status = ILL_SUBTYPE;
                     break    ;
                 }
                 return status;
             }
             int tc_check_crc( ccsdsTelecommandPacket_t * TCPacket, unsigned int length, unsigned char *computed_CRC )
             {
                 /** This function checks the CRC validity of the corresponding TeleCommand packet.
                  *
                  * @param TCPacket points to the TeleCommand packet to check.
                  * @param length is the length of the TC packet.
                  *
                  * @return Status code CCSDS_TM_VALID or INCOR_CHECKSUM.
                  *
                  */
                 int status;
                 unsigned char * CCSDSContent;
                 CCSDSContent = (unsigned char*) TCPacket->packetID;
                 GetCRCAsTwoBytes(CCSDSContent, computed_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                 if (computed_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
                     status = INCOR_CHECKSUM;
                 }
                 else if (computed_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
                     status = INCOR_CHECKSUM;
                 }
                 else {
                     status = CCSDS_TM_VALID;
                 }
                 return status;
             }

src/tc_handler.c +3 0

             /** Functions and tasks related to TeleCommand handling.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands:\n
              * action launching\n
              * TC parsing\n
              * ...
              *
              */
             #include "tc_handler.h"
             #include "math.h"
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                  * on the incoming TeleCommand.
                  *
                  */
                 int result;
                 rtems_status_code status;       // RTEMS status code
                 ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
                 size_t size;                    // size of the incoming TC packet
                 unsigned char subtype;          // subtype of the current TC packet
                 unsigned char time[6];
                 rtems_id queue_rcv_id;
                 rtems_id queue_snd_id;
                 status =  get_message_queue_id_recv( &queue_rcv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_snd_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
                 }
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 BOOT_PRINTF("in ACTN *** \n");
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                           RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     getTime( time );    // set time to the current time
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     }
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                         case TC_SUBTYPE_RESET:
                             result = action_reset( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_COMM:
                             result = action_load_common_par( &TC );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_NORM:
                             result = action_load_normal_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_BURST:
                             result = action_load_burst_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_SBM1:
                             result = action_load_sbm1_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_SBM2:
                             result = action_load_sbm2_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DUMP:
                             result = action_dump_par( &TC,  queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_ENTER:
                             result = action_enter_mode( &TC, queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_UPDT_INFO:
                             result = action_update_info( &TC, queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_EN_CAL:
                             result = action_enable_calibration( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DIS_CAL:
                             result = action_disable_calibration( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_K:
                             result = action_load_kcoefficients( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DUMP_K:
                             result = action_dump_kcoefficients( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_FBINS:
                             result = action_load_fbins_mask( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_FILTER_PAR:
                             result = action_load_filter_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_UPDT_TIME:
                             result = action_update_time( &TC );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         default:
                             break;
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 PRINTF("this is the end!!!\n");
                 exit(0);
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 return LFR_DEFAULT;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 unsigned int *transitionCoarseTime_ptr;
                 unsigned int transitionCoarseTime;
                 unsigned char * bytePosPtr;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 requestedMode = bytePosPtr[ BYTE_POS_CP_MODE_LFR_SET ];
                 transitionCoarseTime_ptr = (unsigned int *) ( &bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME ] );
                 transitionCoarseTime = (*transitionCoarseTime_ptr) & 0x7fffffff;
                 status = check_mode_value( requestedMode );
                 if ( status != LFR_SUCCESSFUL )     // the mode value is inconsistent
                 {
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_MODE_LFR_SET, requestedMode );
                 }
                 else                                // the mode value is valid, check the transition
                 {
                     status = check_mode_transition(requestedMode);
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_mode_transition\n")
                                 send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the transition is valid, check the date
                 {
                     status = check_transition_date( transitionCoarseTime );
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_transition_date\n");
                         send_tm_lfr_tc_exe_not_executable(TC, queue_id );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the date is valid, enter the mode
                 {
                     PRINTF1("OK  *** in action_enter_mode *** enter mode %d\n", requestedMode);
                     switch(requestedMode)
                     {
                     case LFR_MODE_STANDBY:
                         status = enter_mode_standby();
                         break;
                     case LFR_MODE_NORMAL:
                         status = enter_mode_normal( transitionCoarseTime );
                         break;
                     case LFR_MODE_BURST:
                         status = enter_mode_burst( transitionCoarseTime );
                         break;
                     case LFR_MODE_SBM1:
                         status = enter_mode_sbm1( transitionCoarseTime );
                         break;
                     case LFR_MODE_SBM2:
                         status = enter_mode_sbm2( transitionCoarseTime );
                         break;
                     default:
                         break;
                     }
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         status = LFR_EXE_ERROR;
                     }
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR directive status code:
                  * - LFR_DEFAULT
                  * - LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 int result;
                 unsigned int status;
                 unsigned char mode;
                 unsigned char * bytePosPtr;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 // check LFR mode
                 mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET5 ] & 0x1e) >> 1;
                 status = check_update_info_hk_lfr_mode( mode );
                 if (status == LFR_SUCCESSFUL)  // check TDS mode
                 {
                     mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & 0xf0) >> 4;
                     status = check_update_info_hk_tds_mode( mode );
                 }
                 if (status == LFR_SUCCESSFUL)  // check THR mode
                 {
                     mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & 0x0f);
                     status = check_update_info_hk_thr_mode( mode );
                 }
                 if (status == LFR_SUCCESSFUL)  // if the parameter check is successful
                 {
                     val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
                             + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                     val++;
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                 }
                 // pa_bia_status_info
                 // => pa_bia_mode_mux_set       3 bits
                 // => pa_bia_mode_hv_enabled    1 bit
                 // => pa_bia_mode_bias1_enabled 1 bit
                 // => pa_bia_mode_bias2_enabled 1 bit
                 // => pa_bia_mode_bias3_enabled 1 bit
                 // => pa_bia_on_off (cp_dpu_bias_on_off)
                 pa_bia_status_info = bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET2 ] & 0xfe; // [1111 1110]
                 pa_bia_status_info = pa_bia_status_info
                         | (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET1 ] & 0x1);
                 // REACTION_WHEELS_FREQUENCY, copy the incoming parameters in the local variable (to be copied in HK packets)
                 cp_rpw_sc_rw_f_flags = bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW_F_FLAGS ];
                 getReactionWheelsFrequencies( TC );
                 build_sy_lfr_rw_masks();
+                // once the masks are built, they have to be merged with the fbins_mask
+                merge_fbins_masks();
                 result = status;
                 return result;
             }
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 result = LFR_DEFAULT;
                 setCalibration( true );
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 result = LFR_DEFAULT;
                 setCalibration( false );
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                         + (TC->dataAndCRC[1] << 16)
                         + (TC->dataAndCRC[2] << 8)
                         + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
                 oneTcLfrUpdateTimeReceived = 1;
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int check_mode_value( unsigned char requestedMode )
             {
                 int status;
                 if ( (requestedMode != LFR_MODE_STANDBY)
                      && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                      && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                 {
                     status = LFR_DEFAULT;
                 }
                 else
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 return status;
             }
             int check_mode_transition( unsigned char requestedMode )
             {
                 /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
                  *
                  * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
                  *
                  * @return LFR directive status codes:
                  * - LFR_SUCCESSFUL - the transition is authorized
                  * - LFR_DEFAULT - the transition is not authorized
                  *
                  */
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             void update_last_valid_transition_date( unsigned int transitionCoarseTime )
             {
                 if (transitionCoarseTime == 0)
                 {
                     lastValidEnterModeTime = time_management_regs->coarse_time + 1;
                     PRINTF1("lastValidEnterModeTime = 0x%x (transitionCoarseTime = 0 => coarse_time+1)\n", lastValidEnterModeTime);
                 }
                 else
                 {
                     lastValidEnterModeTime = transitionCoarseTime;
                     PRINTF1("lastValidEnterModeTime = 0x%x\n", transitionCoarseTime);
                 }
             }
             int check_transition_date( unsigned int transitionCoarseTime )
             {
                 int status;
                 unsigned int localCoarseTime;
                 unsigned int deltaCoarseTime;
                 status = LFR_SUCCESSFUL;
                 if (transitionCoarseTime == 0)  // transition time = 0 means an instant transition
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     localCoarseTime = time_management_regs->coarse_time & 0x7fffffff;
                     PRINTF2("localTime = %x, transitionTime = %x\n", localCoarseTime, transitionCoarseTime);
                     if ( transitionCoarseTime <= localCoarseTime )   // SSS-CP-EQS-322
                     {
                         status = LFR_DEFAULT;
                         PRINTF("ERR *** in check_transition_date *** transitionCoarseTime <= localCoarseTime\n");
                     }
                     if (status == LFR_SUCCESSFUL)
                     {
                         deltaCoarseTime = transitionCoarseTime - localCoarseTime;
                         if ( deltaCoarseTime > 3 )                  // SSS-CP-EQS-323
                         {
                             status = LFR_DEFAULT;
                             PRINTF1("ERR *** in check_transition_date *** deltaCoarseTime = %x\n", deltaCoarseTime)
                         }
                     }
                 }
                 return status;
             }
             int restart_asm_activities( unsigned char lfrRequestedMode )
             {
                 rtems_status_code status;
                 status = stop_spectral_matrices();
                 thisIsAnASMRestart = 1;
                 status = restart_asm_tasks( lfrRequestedMode );
                 launch_spectral_matrix();
                 return status;
             }
             int stop_spectral_matrices( void )
             {
                 /** This function stops and restarts the current mode average spectral matrices activities.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // (1) mask interruptions
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
                 // (2) reset spectral matrices registers
                 set_sm_irq_onNewMatrix( 0 );                    // stop the spectral matrices
                 reset_sm_status();
                 // (3) clear interruptions
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_asm_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 return status;
             }
             int stop_current_mode( void )
             {
                 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // (1) mask interruptions
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // clear spectral matrix interrupt
                 // (2) reset waveform picker registers
                 reset_wfp_burst_enable();                       // reset burst and enable bits
                 reset_wfp_status();                             // reset all the status bits
                 // (3) reset spectral matrices registers
                 set_sm_irq_onNewMatrix( 0 );                    // stop the spectral matrices
                 reset_sm_status();
                 // reset lfr VHDL module
                 reset_lfr();
                 reset_extractSWF();                             // reset the extractSWF flag to false
                 // (4) clear interruptions
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 return status;
             }
             int enter_mode_standby( void )
             {
                 /** This function is used to put LFR in the STANDBY mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The STANDBY mode does not depends on a specific transition date, the effect of the TC_LFR_ENTER_MODE
                  * is immediate.
                  *
                  */
                 int status;
                 status = stop_current_mode();       // STOP THE CURRENT MODE
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                 PRINTF("stack report selected\n")
                 rtems_stack_checker_report_usage();
             #endif
                 return status;
             }
             int enter_mode_normal( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the NORMAL mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the NORMAL mode is started depends on the LFR current mode. If LFR is in SBM1 or SBM2,
                  * the snapshots are not restarted, only ASM, BP and CWF data generation are affected.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = RTEMS_UNSATISFIED;
                 switch( lfrCurrentMode )
                 {
                 case LFR_MODE_STANDBY:
                     status = restart_science_tasks( LFR_MODE_NORMAL ); // restart science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_NORMAL, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_BURST:
                     status = stop_current_mode();           // stop the current mode
                     status = restart_science_tasks( LFR_MODE_NORMAL ); // restart the science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_NORMAL, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_SBM1:
                     status = restart_asm_activities( LFR_MODE_NORMAL ); // this is necessary to restart ASM tasks to update the parameters
                     status = LFR_SUCCESSFUL;                   // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 case LFR_MODE_SBM2:
                     status = restart_asm_activities( LFR_MODE_NORMAL ); // this is necessary to restart ASM tasks to update the parameters
                     status = LFR_SUCCESSFUL;                   // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 default:
                     break;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_normal *** status = %d\n", status)
                             status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_mode_burst( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the BURST mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the BURST mode is started does not depend on the LFR current mode.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = stop_current_mode();           // stop the current mode
                 status = restart_science_tasks( LFR_MODE_BURST ); // restart the science tasks
                 if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                 {
                     launch_spectral_matrix( );
                     launch_waveform_picker( LFR_MODE_BURST, transitionCoarseTime );
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_burst *** status = %d\n", status)
                             status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_mode_sbm1( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the SBM1 mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the SBM1 mode is started depends on the LFR current mode. If LFR is in NORMAL or SBM2,
                  * the snapshots are not restarted, only ASM, BP and CWF data generation are affected. In other
                  * cases, the acquisition is completely restarted.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = RTEMS_UNSATISFIED;
                 switch( lfrCurrentMode )
                 {
                 case LFR_MODE_STANDBY:
                     status = restart_science_tasks( LFR_MODE_SBM1 ); // restart science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM1, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_NORMAL:                       // lfrCurrentMode will be updated after the execution of close_action
                     status = restart_asm_activities( LFR_MODE_SBM1 );
                     status = LFR_SUCCESSFUL;
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 case LFR_MODE_BURST:
                     status = stop_current_mode();           // stop the current mode
                     status = restart_science_tasks( LFR_MODE_SBM1 ); // restart the science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM1, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_SBM2:
                     status = restart_asm_activities( LFR_MODE_SBM1 );
                     status = LFR_SUCCESSFUL;                // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 default:
                     break;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_sbm1 *** status = %d\n", status);
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_mode_sbm2( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the SBM2 mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the SBM2 mode is started depends on the LFR current mode. If LFR is in NORMAL or SBM1,
                  * the snapshots are not restarted, only ASM, BP and CWF data generation are affected. In other
                  * cases, the acquisition is completely restarted.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = RTEMS_UNSATISFIED;
                 switch( lfrCurrentMode )
                 {
                 case LFR_MODE_STANDBY:
                     status = restart_science_tasks( LFR_MODE_SBM2 ); // restart science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM2, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     status = restart_asm_activities( LFR_MODE_SBM2 );
                     status = LFR_SUCCESSFUL;                // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 case LFR_MODE_BURST:
                     status = stop_current_mode();           // stop the current mode
                     status = restart_science_tasks( LFR_MODE_SBM2 ); // restart the science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM2, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_SBM1:
                     status = restart_asm_activities( LFR_MODE_SBM2 );
                     status = LFR_SUCCESSFUL;                // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 default:
                     break;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_sbm2 *** status = %d\n", status)
                             status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int restart_science_tasks( unsigned char lfrRequestedMode )
             {
                 /** This function is used to restart all science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * Science tasks are AVF0, PRC0, WFRM, CWF3, CW2, CWF1
                  *
                  */
                 rtems_status_code status[10];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[0])
                 }
                 status[1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[1])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** WFRM ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF2 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF1 ERR %d\n", status[5])
                 }
                 status[6] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode );
                 if (status[6] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[6])
                 }
                 status[7] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode );
                 if (status[7] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[7])
                 }
                 status[8] = rtems_task_restart( Task_id[TASKID_AVF2], 1 );
                 if (status[8] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[8])
                 }
                 status[9] = rtems_task_restart( Task_id[TASKID_PRC2], 1 );
                 if (status[9] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[9])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) ||
                      (status[2] != RTEMS_SUCCESSFUL) || (status[3] != RTEMS_SUCCESSFUL) ||
                      (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) ||
                      (status[6] != RTEMS_SUCCESSFUL) || (status[7] != RTEMS_SUCCESSFUL) ||
                      (status[8] != RTEMS_SUCCESSFUL) || (status[9] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int restart_asm_tasks( unsigned char lfrRequestedMode )
             {
                 /** This function is used to restart average spectral matrices tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * ASM tasks are AVF0, PRC0, AVF1, PRC1, AVF2 and PRC2
                  *
                  */
                 rtems_status_code status[6];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[0])
                 }
                 status[1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[1])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_AVF2], 1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_PRC2], 1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[5])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) ||
                      (status[2] != RTEMS_SUCCESSFUL) || (status[3] != RTEMS_SUCCESSFUL) ||
                      (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int suspend_science_tasks( void )
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 PRINTF("in suspend_science_tasks\n")
                         status = rtems_task_suspend( Task_id[TASKID_AVF0] );    // suspend AVF0
                 if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC0] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 return status;
             }
             int suspend_asm_tasks( void )
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 PRINTF("in suspend_science_tasks\n")
                         status = rtems_task_suspend( Task_id[TASKID_AVF0] );    // suspend AVF0
                 if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC0] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 return status;
             }
             void launch_waveform_picker( unsigned char mode, unsigned int transitionCoarseTime )
             {
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register( mode );
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 if (transitionCoarseTime == 0)
                 {
                     // instant transition means transition on the next valid date
                     // this is mandatory to have a good snapshot period and a good correction of the snapshot period
                     waveform_picker_regs->start_date = time_management_regs->coarse_time + 1;
                 }
                 else
                 {
                     waveform_picker_regs->start_date = transitionCoarseTime;
                 }
                 update_last_valid_transition_date(waveform_picker_regs->start_date);
             }
             void launch_spectral_matrix( void )
             {
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 reset_nb_sm();
                 set_sm_irq_onNewMatrix( 1 );
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
             }
             void set_sm_irq_onNewMatrix( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe;   // 1110
                 }
             }
             void set_sm_irq_onError( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x02;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffd;   // 1101
                 }
             }
             //*****************************
             // CONFIGURE CALIBRATION SIGNAL
             void setCalibrationPrescaler( unsigned int prescaler )
             {
                 // prescaling of the master clock (25 MHz)
                 // master clock is divided by 2^prescaler
                 time_management_regs->calPrescaler = prescaler;
             }
             void setCalibrationDivisor( unsigned int divisionFactor )
             {
                 // division of the prescaled clock by the division factor
                 time_management_regs->calDivisor = divisionFactor;
             }
             void setCalibrationData( void ){
                 unsigned int k;
                 unsigned short data;
                 float val;
                 float f0;
                 float f1;
                 float fs;
                 float Ts;
                 float scaleFactor;
                 f0 = 625;
                 f1 = 10000;
                 fs = 160256.410;
                 Ts = 1. / fs;
                 scaleFactor = 0.250 / 0.000654; // 191, 500 mVpp, 2 sinus waves => 500 mVpp each, amplitude = 250 mV
                 time_management_regs->calDataPtr = 0x00;
                 // build the signal for the SCM calibration
                 for (k=0; k<256; k++)
                 {
                     val = sin( 2 * pi * f0 * k * Ts )
                             + sin(  2 * pi * f1 * k * Ts );
                     data = (unsigned short) ((val * scaleFactor) + 2048);
                     time_management_regs->calData = data & 0xfff;
                 }
             }
             void setCalibrationDataInterleaved( void ){
                 unsigned int k;
                 float val;
                 float f0;
                 float f1;
                 float fs;
                 float Ts;
                 unsigned short data[384];
                 unsigned char *dataPtr;
                 f0 = 625;
                 f1 = 10000;
                 fs = 240384.615;
                 Ts = 1. / fs;
                 time_management_regs->calDataPtr = 0x00;
                 // build the signal for the SCM calibration
                 for (k=0; k<384; k++)
                 {
                     val = sin( 2 * pi * f0 * k * Ts )
                             + sin(  2 * pi * f1 * k * Ts );
                     data[k] = (unsigned short) (val * 512 + 2048);
                 }
                 // write the signal in interleaved mode
                 for (k=0; k<128; k++)
                 {
                     dataPtr = (unsigned char*) &data[k*3 + 2];
                     time_management_regs->calData = (data[k*3] & 0xfff)
                             + ( (dataPtr[0] & 0x3f) << 12);
                     time_management_regs->calData = (data[k*3 + 1] & 0xfff)
                             + ( (dataPtr[1] & 0x3f) << 12);
                 }
             }
             void setCalibrationReload( bool state)
             {
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000010;   // [0001 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffef;   // [1110 1111]
                 }
             }
             void setCalibrationEnable( bool state )
             {
                 // this bit drives the multiplexer
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000040;   // [0100 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffbf; // [1011 1111]
                 }
             }
             void setCalibrationInterleaved( bool state )
             {
                 // this bit drives the multiplexer
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000020;   // [0010 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffdf; // [1101 1111]
                 }
             }
             void setCalibration( bool state )
             {
                 if (state == true)
                 {
                     setCalibrationEnable( true );
                     setCalibrationReload( false );
                     set_hk_lfr_calib_enable( true );
                 }
                 else
                 {
                     setCalibrationEnable( false );
                     setCalibrationReload( true );
                     set_hk_lfr_calib_enable( false );
                 }
             }
             void configureCalibration( bool interleaved )
             {
                 setCalibration( false );
                 if ( interleaved == true )
                 {
                     setCalibrationInterleaved( true );
                     setCalibrationPrescaler( 0 );   // 25 MHz   => 25 000 000
                     setCalibrationDivisor(  26 );   //          => 240 384
                     setCalibrationDataInterleaved();
                 }
                 else
                 {
                     setCalibrationPrescaler( 0 );   // 25 MHz   => 25 000 000
                     setCalibrationDivisor(  38 );   //          => 160 256 (39 - 1)
                     setCalibrationData();
                 }
             }
             //****************
             // CLOSING ACTIONS
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a successful TC execution.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
                 val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a TC rejection.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC rejection
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
                 val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
             {
                 /** This function is the last step of the TC execution workflow.
                  *
                  * @param TC points to the TC being processed
                  * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
                  * @param queue_id is the id of the RTEMS message queue used to send TM packets
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned char requestedMode;
                 if (result == LFR_SUCCESSFUL)
                 {
                     if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                          &
                          !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
                          )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
                     if ( (TC->serviceType == TC_TYPE_GEN) & (TC->serviceSubType == TC_SUBTYPE_ENTER) )
                     {
                         //**********************************
                         // UPDATE THE LFRMODE LOCAL VARIABLE
                         requestedMode = TC->dataAndCRC[1];
                         updateLFRCurrentMode( requestedMode );
                     }
                 }
                 else if (result == LFR_EXE_ERROR)
                 {
                     send_tm_lfr_tc_exe_error( TC, queue_id );
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     PRINTF("In commutation_isr1 *** Error sending event to DUMB\n")
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     PRINTF("In commutation_isr2 *** Error sending event to DUMB\n")
                 }
             }
             //****************
             // OTHER FUNCTIONS
             void updateLFRCurrentMode( unsigned char requestedMode )
             {
                 /** This function updates the value of the global variable lfrCurrentMode.
                  *
                  * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
                  *
                  */
                 // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
                 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((requestedMode << 4) + 0x0d);
                 lfrCurrentMode = requestedMode;
             }
             void set_lfr_soft_reset( unsigned char value )
             {
                 if (value == 1)
                 {
                     time_management_regs->ctrl = time_management_regs->ctrl | 0x00000004; // [0100]
                 }
                 else
                 {
                     time_management_regs->ctrl = time_management_regs->ctrl & 0xfffffffb; // [1011]
                 }
             }
             void reset_lfr( void )
             {
                 set_lfr_soft_reset( 1 );
                 set_lfr_soft_reset( 0 );
                 set_hk_lfr_sc_potential_flag( true );
             }

src/tc_load_dump_parameters.c +6 -22

             /** Functions to load and dump parameters in the LFR registers.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TC related to parameter loading and dumping.\n
              * TC_LFR_LOAD_COMMON_PAR\n
              * TC_LFR_LOAD_NORMAL_PAR\n
              * TC_LFR_LOAD_BURST_PAR\n
              * TC_LFR_LOAD_SBM1_PAR\n
              * TC_LFR_LOAD_SBM2_PAR\n
              *
              */
             #include "tc_load_dump_parameters.h"
             Packet_TM_LFR_KCOEFFICIENTS_DUMP_t kcoefficients_dump_1;
             Packet_TM_LFR_KCOEFFICIENTS_DUMP_t kcoefficients_dump_2;
             ring_node kcoefficient_node_1;
             ring_node kcoefficient_node_2;
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function updates the LFR registers with the incoming common parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  *
                  */
                 parameter_dump_packet.sy_lfr_common_parameters_spare    = TC->dataAndCRC[0];
                 parameter_dump_packet.sy_lfr_common_parameters          = TC->dataAndCRC[1];
                 set_wfp_data_shaping( );
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming normal parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 int flag;
                 rtems_status_code status;
                 flag = LFR_SUCCESSFUL;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) ||
                      (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 // CHECK THE PARAMETERS SET CONSISTENCY
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = check_normal_par_consistency( TC, queue_id );
                 }
                 // SET THE PARAMETERS IF THEY ARE CONSISTENT
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_l( TC );
                     result = set_sy_lfr_n_swf_p( TC );
                     result = set_sy_lfr_n_bp_p0( TC );
                     result = set_sy_lfr_n_bp_p1( TC );
                     result = set_sy_lfr_n_asm_p( TC );
                     result = set_sy_lfr_n_cwf_long_f3( TC );
                 }
                 return flag;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming burst parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_b_bp_p0;
                 unsigned char sy_lfr_b_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_BURST ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                 sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                 // sy_lfr_b_bp_p0 shall not be lower than its default value
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_b_bp_p0 < DEFAULT_SY_LFR_B_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P0+10, sy_lfr_b_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_b_bp_p1 shall not be lower than its default value
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_b_bp_p1 < DEFAULT_SY_LFR_B_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P1+10, sy_lfr_b_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //****************************************************************
                 // check the consistency between sy_lfr_b_bp_p0 and sy_lfr_b_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                     sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                     aux = ( (float ) sy_lfr_b_bp_p1 / sy_lfr_b_bp_p0 ) - floor(sy_lfr_b_bp_p1 / sy_lfr_b_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P0+10, sy_lfr_b_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_b_bp_p0( TC );
                     flag = set_sy_lfr_b_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm1 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_s1_bp_p0;
                 unsigned char sy_lfr_s1_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_s1_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P0 ];
                 sy_lfr_s1_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P1 ];
                 // sy_lfr_s1_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s1_bp_p0 < DEFAULT_SY_LFR_S1_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P0+10, sy_lfr_s1_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_s1_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s1_bp_p1 < DEFAULT_SY_LFR_S1_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P1+10, sy_lfr_s1_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //******************************************************************
                 // check the consistency between sy_lfr_s1_bp_p0 and sy_lfr_s1_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_s1_bp_p1 / (sy_lfr_s1_bp_p0*0.25) ) - floor(sy_lfr_s1_bp_p1 / (sy_lfr_s1_bp_p0*0.25));
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P0+10, sy_lfr_s1_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_s1_bp_p0( TC );
                     flag = set_sy_lfr_s1_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_s2_bp_p0;
                 unsigned char sy_lfr_s2_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                 sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                 // sy_lfr_s2_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s2_bp_p0 < DEFAULT_SY_LFR_S2_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P0+10, sy_lfr_s2_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_s2_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s2_bp_p1 < DEFAULT_SY_LFR_S2_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P1+10, sy_lfr_s2_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //******************************************************************
                 // check the consistency between sy_lfr_s2_bp_p0 and sy_lfr_s2_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                     sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                     aux = ( (float ) sy_lfr_s2_bp_p1 / sy_lfr_s2_bp_p0 ) - floor(sy_lfr_s2_bp_p1 / sy_lfr_s2_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P0+10, sy_lfr_s2_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_s2_bp_p0( TC );
                     flag = set_sy_lfr_s2_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = set_sy_lfr_kcoeff( TC, queue_id );
                 return flag;
             }
             int action_load_fbins_mask(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = set_sy_lfr_fbins( TC );
+                // once the fbins masks have been stored, they have to be merged with the masks which handle the reaction wheels frequencies filtering
+                merge_fbins_masks();
                 return flag;
             }
             int action_load_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = check_sy_lfr_filter_parameters( TC, queue_id );
                 if (flag  == LFR_SUCCESSFUL)
                 {
                     parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ];
                     parameter_dump_packet.sy_lfr_pas_filter_modulus         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[0]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 0 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[1]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 1 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[2]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 2 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[3]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 3 ];
                     parameter_dump_packet.sy_lfr_pas_filter_offset          = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[0]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 0 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[1]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 1 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[2]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 2 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[3]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 3 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[0]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 0 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[1]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 1 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[2]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 2 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[3]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 3 ];
                     //****************************
                     // store PAS filter parameters
                     // sy_lfr_pas_filter_enabled
                     filterPar.spare_sy_lfr_pas_filter_enabled   = parameter_dump_packet.spare_sy_lfr_pas_filter_enabled;
                     set_sy_lfr_pas_filter_enabled( parameter_dump_packet.spare_sy_lfr_pas_filter_enabled & 0x01 );
                     // sy_lfr_pas_filter_modulus
                     filterPar.sy_lfr_pas_filter_modulus         = parameter_dump_packet.sy_lfr_pas_filter_modulus;
                     // sy_lfr_pas_filter_tbad
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_pas_filter_tbad,
                                      parameter_dump_packet.sy_lfr_pas_filter_tbad );
                     // sy_lfr_pas_filter_offset
                     filterPar.sy_lfr_pas_filter_offset          = parameter_dump_packet.sy_lfr_pas_filter_offset;
                     // sy_lfr_pas_filter_shift
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_pas_filter_shift,
                                      parameter_dump_packet.sy_lfr_pas_filter_shift );
                     //****************************************************
                     // store the parameter sy_lfr_sc_rw_delta_f as a float
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_sc_rw_delta_f,
                                      parameter_dump_packet.sy_lfr_sc_rw_delta_f );
                 }
                 return flag;
             }
             int action_dump_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int address;
                 rtems_status_code status;
                 unsigned int freq;
                 unsigned int bin;
                 unsigned int coeff;
                 unsigned char *kCoeffPtr;
                 unsigned char *kCoeffDumpPtr;
                 // for each sy_lfr_kcoeff_frequency there is 32 kcoeff
                 // F0 => 11 bins
                 // F1 => 13 bins
                 // F2 => 12 bins
                 // 36 bins to dump in two packets (30 bins max per packet)
                 //*********
                 // PACKET 1
                 // 11 F0 bins, 13 F1 bins and 6 F2 bins
                 kcoefficients_dump_1.destinationID = TC->sourceID;
                 increment_seq_counter_destination_id_dump( kcoefficients_dump_1.packetSequenceControl, TC->sourceID );
                 for( freq=0;
                      freq<NB_BINS_COMPRESSED_SM_F0;
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1] = freq;
                     bin = freq;
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f0_norm);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f0_norm[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 for( freq=NB_BINS_COMPRESSED_SM_F0;
                      freq<(NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1);
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1 ] = freq;
                     bin = freq - NB_BINS_COMPRESSED_SM_F0;
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f1_norm);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f1_norm[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 for( freq=(NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1);
                      freq<(NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1+6);
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1 ] = freq;
                     bin = freq - (NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1);
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f2);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f2[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 kcoefficients_dump_1.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 kcoefficients_dump_1.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 kcoefficients_dump_1.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 kcoefficients_dump_1.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 kcoefficients_dump_1.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 kcoefficients_dump_1.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 kcoefficient_node_1.status = 1;
                 address = (unsigned int) &kcoefficient_node_1;
                 status =  rtems_message_queue_send( queue_id, &address, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump_kcoefficients *** ERR sending packet 1 , code %d", status)
                 }
                  //********
                 // PACKET 2
                 // 6 F2 bins
                 kcoefficients_dump_2.destinationID = TC->sourceID;
                 increment_seq_counter_destination_id_dump( kcoefficients_dump_2.packetSequenceControl, TC->sourceID );
                 for( freq=0; freq<6; freq++ )
                 {
                     kcoefficients_dump_2.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1 ] = NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 + 6 + freq;
                     bin = freq + 6;
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f2);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_2.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f2[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 kcoefficients_dump_2.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 kcoefficients_dump_2.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 kcoefficients_dump_2.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 kcoefficients_dump_2.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 kcoefficients_dump_2.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 kcoefficients_dump_2.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 kcoefficient_node_2.status = 1;
                 address = (unsigned int) &kcoefficient_node_2;
                 status =  rtems_message_queue_send( queue_id, &address, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump_kcoefficients *** ERR sending packet 2, code %d", status)
                 }
                 return status;
             }
             int action_dump_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                  *
                  * @param queue_id is the id of the queue which handles TM related to this execution step.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 int status;
-                int k;
                 increment_seq_counter_destination_id_dump( parameter_dump_packet.packetSequenceControl, TC->sourceID );
                 parameter_dump_packet.destinationID = TC->sourceID;
                 // UPDATE TIME
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
-                printf("f0\n");
-                for (k = 0; k<16; k++)
-                    printf("%x ", parameter_dump_packet.sy_lfr_rw_mask.fx.f0_word1[k]);
-                printf("\n");
-                printf("f1\n");
-                for (k = 0; k<16; k++)
-                    printf("%x ", parameter_dump_packet.sy_lfr_rw_mask.fx.f1_word1[k]);
-                printf("\n");
-                printf("f2\n");
-                for (k = 0; k<16; k++)
-                    printf("%x ", parameter_dump_packet.sy_lfr_rw_mask.fx.f2_word1[k]);
-                printf("\n");
                 status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                     PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                 }
                 return status;
             }
             //***********************
             // NORMAL MODE PARAMETERS
             int check_normal_par_consistency( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 unsigned char msb;
                 unsigned char lsb;
                 int flag;
                 float aux;
                 rtems_status_code status;
                 unsigned int sy_lfr_n_swf_l;
                 unsigned int sy_lfr_n_swf_p;
                 unsigned int sy_lfr_n_asm_p;
                 unsigned char sy_lfr_n_bp_p0;
                 unsigned char sy_lfr_n_bp_p1;
                 unsigned char sy_lfr_n_cwf_long_f3;
                 flag = LFR_SUCCESSFUL;
                 //***************
                 // get parameters
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L+1 ];
                 sy_lfr_n_swf_l = msb * 256 + lsb;
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P+1 ];
                 sy_lfr_n_swf_p = msb * 256  + lsb;
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P+1 ];
                 sy_lfr_n_asm_p = msb * 256  + lsb;
                 sy_lfr_n_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P0 ];
                 sy_lfr_n_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P1 ];
                 sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_CWF_LONG_F3 ];
                 //******************
                 // check consistency
                 // sy_lfr_n_swf_l
                 if (sy_lfr_n_swf_l != 2048)
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_SWF_L+10, sy_lfr_n_swf_l );
                     flag = WRONG_APP_DATA;
                 }
                 // sy_lfr_n_swf_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( sy_lfr_n_swf_p < 22 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_SWF_P+10, sy_lfr_n_swf_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_bp_p0 < DFLT_SY_LFR_N_BP_P0)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P0+10, sy_lfr_n_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_asm_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_asm_p == 0)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_ASM_P+10, sy_lfr_n_asm_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_asm_p shall be a whole multiple of sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_n_asm_p / sy_lfr_n_bp_p0 ) - floor(sy_lfr_n_asm_p / sy_lfr_n_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_ASM_P+10, sy_lfr_n_asm_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_bp_p1 < DFLT_SY_LFR_N_BP_P1)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P1+10, sy_lfr_n_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p1 shall be a whole multiple of sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_n_bp_p1 / sy_lfr_n_bp_p0 ) - floor(sy_lfr_n_bp_p1 / sy_lfr_n_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P1+10, sy_lfr_n_bp_p1 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // sy_lfr_n_cwf_long_f3
                 return flag;
             }
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L   ];
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L+1 ];
                 return result;
             }
             int set_sy_lfr_n_swf_p(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P   ];
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P+1 ];
                 return result;
             }
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two full spectral matrices transmission, in s (SY_LFR_N_ASM_P).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P   ];
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P+1 ];
                 return result;
             }
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (DFLT_SY_LFR_N_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P1 ];
                 return status;
             }
             int set_sy_lfr_n_cwf_long_f3(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function allows to switch from CWF_F3 packets to CWF_LONG_F3 packets.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_CWF_LONG_F3 ];
                 return status;
             }
             //**********************
             // BURST MODE PARAMETERS
             int set_sy_lfr_b_bp_p0(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_B_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_b_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_B_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                 return status;
             }
             //*********************
             // SBM1 MODE PARAMETERS
             int set_sy_lfr_s1_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S1_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_s1_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S1_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P1 ];
                 return status;
             }
             //*********************
             // SBM2 MODE PARAMETERS
             int set_sy_lfr_s2_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_s2_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                 return status;
             }
             //*******************
             // TC_LFR_UPDATE_INFO
             unsigned int check_update_info_hk_lfr_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == LFR_MODE_STANDBY) || (mode == LFR_MODE_NORMAL)
                      || (mode == LFR_MODE_BURST)
                      || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_tds_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == TDS_MODE_STANDBY) || (mode == TDS_MODE_NORMAL)
                      || (mode == TDS_MODE_BURST)
                      || (mode == TDS_MODE_SBM1) || (mode == TDS_MODE_SBM2)
                      || (mode == TDS_MODE_LFM))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_thr_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == THR_MODE_STANDBY) || (mode == THR_MODE_NORMAL)
                      || (mode == THR_MODE_BURST))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function get the reaction wheels frequencies in the incoming TC_LFR_UPDATE_INFO and copy the values locally.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  */
                 unsigned char * bytePosPtr; // pointer to the beginning of the incoming TC packet
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 // cp_rpw_sc_rw1_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw1_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 ] );
                 // cp_rpw_sc_rw1_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw1_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 ] );
                 // cp_rpw_sc_rw2_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw2_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 ] );
                 // cp_rpw_sc_rw2_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw2_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 ] );
                 // cp_rpw_sc_rw3_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw3_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 ] );
                 // cp_rpw_sc_rw3_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw3_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 ] );
                 // cp_rpw_sc_rw4_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw4_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 ] );
                 // cp_rpw_sc_rw4_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw4_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 ] );
             }
             void setFBinMask( unsigned char *fbins_mask, float rw_f, unsigned char deltaFreq, unsigned char flag )
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param fbins_mask
                  * @param rw_f is the reaction wheel frequency to filter
                  * @param delta_f is the frequency step between the frequency bins, it depends on the frequency channel
                  * @param flag [true] filtering enabled [false] filtering disabled
                  *
                  * @return void
                  *
                  */
                 float f_RW_min;
                 float f_RW_MAX;
                 float fi_min;
                 float fi_MAX;
                 float fi;
                 float deltaBelow;
                 float deltaAbove;
                 int binBelow;
                 int binAbove;
                 int closestBin;
                 unsigned int whichByte;
                 int selectedByte;
                 int bin;
                 int binToRemove[3];
                 int k;
                 whichByte = 0;
                 bin = 0;
                 binToRemove[0] = -1;
                 binToRemove[1] = -1;
                 binToRemove[2] = -1;
                 // compute the frequency range to filter [ rw_f - delta_f/2; rw_f + delta_f/2 ]
                 f_RW_min = rw_f - filterPar.sy_lfr_sc_rw_delta_f / 2.;
                 f_RW_MAX = rw_f + filterPar.sy_lfr_sc_rw_delta_f / 2.;
                 // compute the index of the frequency bin immediately below rw_f
                 binBelow = (int) ( floor( ((double) rw_f) / ((double) deltaFreq)) );
                 deltaBelow = rw_f - binBelow * deltaFreq;
                 // compute the index of the frequency bin immediately above rw_f
                 binAbove = (int) ( ceil(  ((double) rw_f) / ((double) deltaFreq)) );
                 deltaAbove = binAbove * deltaFreq - rw_f;
                 // search the closest bin
                 if (deltaAbove > deltaBelow)
                 {
                     closestBin = binBelow;
                 }
                 else
                 {
                     closestBin = binAbove;
                 }
                 // compute the fi interval [fi - deltaFreq * 0.285, fi + deltaFreq * 0.285]
                 fi = closestBin * deltaFreq;
                 fi_min = fi - (deltaFreq * 0.285);
                 fi_MAX = fi + (deltaFreq * 0.285);
                 //**************************************************************************************
                 // be careful here, one shall take into account that the bin 0 IS DROPPED in the spectra
                 // thus, the index 0 in a mask corresponds to the bin 1 of the spectrum
                 //**************************************************************************************
                 // 1. IF [ f_RW_min, f_RW_MAX] is included in [ fi_min; fi_MAX ]
                 // => remove f_(i), f_(i-1) and f_(i+1)
                 if ( ( f_RW_min > fi_min ) && ( f_RW_MAX < fi_MAX ) )
                 {
                     binToRemove[0] = (closestBin - 1) - 1;
                     binToRemove[1] = (closestBin)     - 1;
                     binToRemove[2] = (closestBin + 1) - 1;
                 }
                 // 2. ELSE
                 // => remove the two f_(i) which are around f_RW
                 else
                 {
                     binToRemove[0] = (binBelow) - 1;
                     binToRemove[1] = (binAbove) - 1;
                     binToRemove[2] = (-1);
                 }
                 for (k = 0; k < 3; k++)
                 {
                     bin = binToRemove[k];
                     if ( (bin >= 0) && (bin <= 127) )
                     {
                         if (flag == 1)
                         {
                             whichByte = (bin >> 3);    // division by 8
                             selectedByte = ( 1 << (bin - (whichByte * 8)) );
                             fbins_mask[15 - whichByte] = fbins_mask[15 - whichByte] & ((unsigned char) (~selectedByte)); // bytes are ordered MSB first in the packets
                         }
                     }
                 }
             }
             void build_sy_lfr_rw_mask( unsigned int channel )
             {
                 unsigned char local_rw_fbins_mask[16];
                 unsigned char *maskPtr;
                 double deltaF;
                 unsigned k;
                 k = 0;
                 maskPtr = NULL;
                 deltaF = 1.;
                 switch (channel)
                 {
                 case 0:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask.fx.f0_word1;
                     deltaF = 96.;
                     break;
                 case 1:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask.fx.f1_word1;
                     deltaF = 16.;
                     break;
                 case 2:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask.fx.f2_word1;
                     deltaF = 1.;
                     break;
                 default:
                     break;
                 }
                 for (k = 0; k < 16; k++)
                 {
                     local_rw_fbins_mask[k] = 0xff;
                 }
                 // RW1 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x80) >> 7 );   // [1000 0000]
                 // RW1 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x40) >> 6 );   // [0100 0000]
                 // RW2 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw2_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x20) >> 5 );   // [0010 0000]
                 // RW2 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw2_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x10) >> 4 );   // [0001 0000]
                 // RW3 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw3_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x08) >> 3 );   // [0000 1000]
                 // RW3 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw3_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x04) >> 2 );   // [0000 0100]
                 // RW4 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw4_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x02) >> 1 );   // [0000 0010]
                 // RW4 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw4_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x01)       );  // [0000 0001]
                 // update the value of the fbins related to reaction wheels frequency filtering
                 if (maskPtr != NULL)
                 {
                     for (k = 0; k < 16; k++)
                     {
                         maskPtr[k] = local_rw_fbins_mask[k];
                     }
                 }
             }
             void build_sy_lfr_rw_masks( void )
             {
                 build_sy_lfr_rw_mask( 0 );
                 build_sy_lfr_rw_mask( 1 );
                 build_sy_lfr_rw_mask( 2 );
-                merge_fbins_masks();
             }
             void merge_fbins_masks( void )
             {
                 unsigned char k;
                 unsigned char *fbins_f0;
                 unsigned char *fbins_f1;
                 unsigned char *fbins_f2;
                 unsigned char *rw_mask_f0;
                 unsigned char *rw_mask_f1;
                 unsigned char *rw_mask_f2;
                 fbins_f0 = parameter_dump_packet.sy_lfr_fbins.fx.f0_word1;
                 fbins_f1 = parameter_dump_packet.sy_lfr_fbins.fx.f1_word1;
                 fbins_f2 = parameter_dump_packet.sy_lfr_fbins.fx.f2_word1;
                 rw_mask_f0 = parameter_dump_packet.sy_lfr_rw_mask.fx.f0_word1;
                 rw_mask_f1 = parameter_dump_packet.sy_lfr_rw_mask.fx.f1_word1;
                 rw_mask_f2 = parameter_dump_packet.sy_lfr_rw_mask.fx.f2_word1;
                 for( k=0; k < 16; k++ )
                 {
                     fbins_masks.merged_fbins_mask_f0[k] = fbins_f0[k] & rw_mask_f0[k];
                     fbins_masks.merged_fbins_mask_f1[k] = fbins_f1[k] & rw_mask_f1[k];
                     fbins_masks.merged_fbins_mask_f2[k] = fbins_f2[k] & rw_mask_f2[k];
                 }
             }
             //***********
             // FBINS MASK
             int set_sy_lfr_fbins( ccsdsTelecommandPacket_t *TC )
             {
                 int status;
                 unsigned int k;
                 unsigned char *fbins_mask_dump;
                 unsigned char *fbins_mask_TC;
                 status = LFR_SUCCESSFUL;
                 fbins_mask_dump = parameter_dump_packet.sy_lfr_fbins.raw;
                 fbins_mask_TC = TC->dataAndCRC;
                 for (k=0; k < NB_FBINS_MASKS * NB_BYTES_PER_FBINS_MASK; k++)
                 {
                     fbins_mask_dump[k] = fbins_mask_TC[k];
                 }
                 return status;
             }
             //***************************
             // TC_LFR_LOAD_PAS_FILTER_PAR
             int check_sy_lfr_filter_parameters( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_pas_filter_enabled;
                 unsigned char sy_lfr_pas_filter_modulus;
                 float sy_lfr_pas_filter_tbad;
                 unsigned char sy_lfr_pas_filter_offset;
                 float sy_lfr_pas_filter_shift;
                 float sy_lfr_sc_rw_delta_f;
                 char *parPtr;
                 flag = LFR_SUCCESSFUL;
                 sy_lfr_pas_filter_tbad  = 0.0;
                 sy_lfr_pas_filter_shift = 0.0;
                 sy_lfr_sc_rw_delta_f    = 0.0;
                 parPtr = NULL;
                 //***************
                 // get parameters
                 sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ] & 0x01;   // [0000 0001]
                 sy_lfr_pas_filter_modulus   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_pas_filter_tbad,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD ]
                             );
                 sy_lfr_pas_filter_offset    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_pas_filter_shift,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT ]
                             );
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_sc_rw_delta_f,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F ]
                             );
                 //******************
                 // CHECK CONSISTENCY
                 //**************************
                 // sy_lfr_pas_filter_enabled
                 // nothing to check, value is 0 or 1
                 //**************************
                 // sy_lfr_pas_filter_modulus
                 if ( (sy_lfr_pas_filter_modulus < 4) || (sy_lfr_pas_filter_modulus > 8) )
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS+10, sy_lfr_pas_filter_modulus );
                     flag = WRONG_APP_DATA;
                 }
                 //***********************
                 // sy_lfr_pas_filter_tbad
                 if ( (sy_lfr_pas_filter_tbad < 0.0) || (sy_lfr_pas_filter_tbad > 4.0) )
                 {
                     parPtr = (char*) &sy_lfr_pas_filter_tbad;
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD+10, parPtr[3] );
                     flag = WRONG_APP_DATA;
                 }
                 //*************************
                 // sy_lfr_pas_filter_offset
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( (sy_lfr_pas_filter_offset < 0) || (sy_lfr_pas_filter_offset > 7) )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET+10, sy_lfr_pas_filter_offset );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //************************
                 // sy_lfr_pas_filter_shift
                 if ( (sy_lfr_pas_filter_shift < 0.0) || (sy_lfr_pas_filter_shift > 1.0) )
                 {
                     parPtr = (char*) &sy_lfr_pas_filter_shift;
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT+10, parPtr[3] );
                     flag = WRONG_APP_DATA;
                 }
                 //*********************
                 // sy_lfr_sc_rw_delta_f
                 // nothing to check, no default value in the ICD
                 return flag;
             }
             //**************
             // KCOEFFICIENTS
             int set_sy_lfr_kcoeff( ccsdsTelecommandPacket_t *TC,rtems_id queue_id )
             {
                 unsigned int kcoeff;
                 unsigned short sy_lfr_kcoeff_frequency;
                 unsigned short bin;
                 unsigned short *freqPtr;
                 float *kcoeffPtr_norm;
                 float *kcoeffPtr_sbm;
                 int status;
                 unsigned char *kcoeffLoadPtr;
                 unsigned char *kcoeffNormPtr;
                 unsigned char *kcoeffSbmPtr_a;
                 unsigned char *kcoeffSbmPtr_b;
                 status = LFR_SUCCESSFUL;
                 kcoeffPtr_norm = NULL;
                 kcoeffPtr_sbm  = NULL;
                 bin = 0;
                 freqPtr = (unsigned short *) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY];
                 sy_lfr_kcoeff_frequency = *freqPtr;
                 if ( sy_lfr_kcoeff_frequency >= NB_BINS_COMPRESSED_SM )
                 {
                     PRINTF1("ERR *** in set_sy_lfr_kcoeff_frequency *** sy_lfr_kcoeff_frequency = %d\n", sy_lfr_kcoeff_frequency)
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY + 10 + 1,
                                                               TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY + 1]  ); // +1 to get the LSB instead of the MSB
                     status = LFR_DEFAULT;
                 }
                 else
                 {
                     if       ( ( sy_lfr_kcoeff_frequency >= 0 )
                             && ( sy_lfr_kcoeff_frequency < NB_BINS_COMPRESSED_SM_F0 ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f0_norm;
                         kcoeffPtr_sbm  = k_coeff_intercalib_f0_sbm;
                         bin   = sy_lfr_kcoeff_frequency;
                     }
                     else if   ( ( sy_lfr_kcoeff_frequency >= NB_BINS_COMPRESSED_SM_F0 )
                              && ( sy_lfr_kcoeff_frequency < (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1) ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f1_norm;
                         kcoeffPtr_sbm  = k_coeff_intercalib_f1_sbm;
                         bin   = sy_lfr_kcoeff_frequency -  NB_BINS_COMPRESSED_SM_F0;
                     }
                     else if   ( ( sy_lfr_kcoeff_frequency >= (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1) )
                              && ( sy_lfr_kcoeff_frequency <  (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 + NB_BINS_COMPRESSED_SM_F2) ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f2;
                         kcoeffPtr_sbm  = NULL;
                         bin   = sy_lfr_kcoeff_frequency - (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1);
                     }
                 }
                 if (kcoeffPtr_norm != NULL )    // update K coefficient for NORMAL data products
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         // destination
                         kcoeffNormPtr = (unsigned char*) &kcoeffPtr_norm[ (bin * NB_K_COEFF_PER_BIN) + kcoeff ];
                         // source
                         kcoeffLoadPtr = (unsigned char*) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_1 + NB_BYTES_PER_FLOAT * kcoeff];
                         // copy source to destination
                         copyFloatByChar( kcoeffNormPtr,  kcoeffLoadPtr );
                     }
                 }
                 if (kcoeffPtr_sbm != NULL )     // update K coefficient for SBM data products
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         // destination
                         kcoeffSbmPtr_a= (unsigned char*) &kcoeffPtr_sbm[ ( (bin * NB_K_COEFF_PER_BIN) + kcoeff) * 2     ];
                         kcoeffSbmPtr_b= (unsigned char*) &kcoeffPtr_sbm[ ( (bin * NB_K_COEFF_PER_BIN) + kcoeff) * 2 + 1 ];
                         // source
                         kcoeffLoadPtr = (unsigned char*) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_1 + NB_BYTES_PER_FLOAT * kcoeff];
                         // copy source to destination
                         copyFloatByChar( kcoeffSbmPtr_a, kcoeffLoadPtr );
                         copyFloatByChar( kcoeffSbmPtr_b, kcoeffLoadPtr );
                     }
                 }
             //    print_k_coeff();
                 return status;
             }
             void copyFloatByChar( unsigned char *destination, unsigned char *source )
             {
                 destination[0] = source[0];
                 destination[1] = source[1];
                 destination[2] = source[2];
                 destination[3] = source[3];
             }
             void floatToChar( float value, unsigned char* ptr)
             {
                 unsigned char* valuePtr;
                 valuePtr = (unsigned char*) &value;
                 ptr[0] = valuePtr[0];
                 ptr[1] = valuePtr[1];
                 ptr[2] = valuePtr[2];
                 ptr[3] = valuePtr[3];
             }
             //**********
             // init dump
             void init_parameter_dump( void )
             {
                 /** This function initialize the parameter_dump_packet global variable with default values.
                  *
                  */
                 unsigned int k;
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (APID_TM_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetID[1] = (unsigned char) APID_TM_PARAMETER_DUMP;
                 parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                 // DATA FIELD HEADER
                 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.sy_lfr_common_parameters_spare    = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.sy_lfr_common_parameters          = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DFLT_SY_LFR_N_SWF_L >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DFLT_SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DFLT_SY_LFR_N_SWF_P >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DFLT_SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DFLT_SY_LFR_N_ASM_P >> 8);
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DFLT_SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DFLT_SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DFLT_SY_LFR_N_BP_P1;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = (unsigned char) DFLT_SY_LFR_N_CWF_LONG_F3;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
                 //************
                 // FBINS MASKS
                 for (k=0; k < NB_FBINS_MASKS * NB_BYTES_PER_FBINS_MASK; k++)
                 {
                     parameter_dump_packet.sy_lfr_fbins.raw[k] = 0xff;
                 }
                 // PAS FILTER PARAMETERS
                 parameter_dump_packet.pa_rpw_spare8_2                   = 0x00;
                 parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = 0x00;
                 parameter_dump_packet.sy_lfr_pas_filter_modulus         = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
                 floatToChar( DEFAULT_SY_LFR_PAS_FILTER_TBAD,    parameter_dump_packet.sy_lfr_pas_filter_tbad );
                 parameter_dump_packet.sy_lfr_pas_filter_offset          = DEFAULT_SY_LFR_PAS_FILTER_OFFSET;
                 floatToChar( DEFAULT_SY_LFR_PAS_FILTER_SHIFT,   parameter_dump_packet.sy_lfr_pas_filter_shift );
                 floatToChar( DEFAULT_SY_LFR_SC_RW_DELTA_F,      parameter_dump_packet.sy_lfr_sc_rw_delta_f );
                 // LFR_RW_MASK
                 for (k=0; k < NB_FBINS_MASKS * NB_BYTES_PER_FBINS_MASK; k++)
                 {
                     parameter_dump_packet.sy_lfr_rw_mask.raw[k] = 0xff;
                 }
+                // once the reaction wheels masks have been initialized, they have to be merged with the fbins masks
+                merge_fbins_masks();
             }
             void init_kcoefficients_dump( void )
             {
                 init_kcoefficients_dump_packet( &kcoefficients_dump_1, 1, 30 );
                 init_kcoefficients_dump_packet( &kcoefficients_dump_2, 2, 6  );
                 kcoefficient_node_1.previous = NULL;
                 kcoefficient_node_1.next = NULL;
                 kcoefficient_node_1.sid = TM_CODE_K_DUMP;
                 kcoefficient_node_1.coarseTime = 0x00;
                 kcoefficient_node_1.fineTime = 0x00;
                 kcoefficient_node_1.buffer_address = (int) &kcoefficients_dump_1;
                 kcoefficient_node_1.status = 0x00;
                 kcoefficient_node_2.previous = NULL;
                 kcoefficient_node_2.next = NULL;
                 kcoefficient_node_2.sid = TM_CODE_K_DUMP;
                 kcoefficient_node_2.coarseTime = 0x00;
                 kcoefficient_node_2.fineTime = 0x00;
                 kcoefficient_node_2.buffer_address = (int) &kcoefficients_dump_2;
                 kcoefficient_node_2.status = 0x00;
             }
             void init_kcoefficients_dump_packet( Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump, unsigned char pkt_nr, unsigned char blk_nr )
             {
                 unsigned int k;
                 unsigned int packetLength;
                 packetLength = blk_nr * 130 + 20 - CCSDS_TC_TM_PACKET_OFFSET; // 4 bytes for the CCSDS header
                 kcoefficients_dump->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 kcoefficients_dump->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 kcoefficients_dump->reserved = CCSDS_RESERVED;
                 kcoefficients_dump->userApplication = CCSDS_USER_APP;
                 kcoefficients_dump->packetID[0] = (unsigned char) (APID_TM_PARAMETER_DUMP >> 8);;
                 kcoefficients_dump->packetID[1] = (unsigned char) APID_TM_PARAMETER_DUMP;;
                 kcoefficients_dump->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 kcoefficients_dump->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 kcoefficients_dump->packetLength[0] = (unsigned char) (packetLength >> 8);
                 kcoefficients_dump->packetLength[1] = (unsigned char) packetLength;
                 // DATA FIELD HEADER
                 kcoefficients_dump->spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 kcoefficients_dump->serviceType = TM_TYPE_K_DUMP;
                 kcoefficients_dump->serviceSubType = TM_SUBTYPE_K_DUMP;
                 kcoefficients_dump->destinationID= TM_DESTINATION_ID_GROUND;
                 kcoefficients_dump->time[0] = 0x00;
                 kcoefficients_dump->time[1] = 0x00;
                 kcoefficients_dump->time[2] = 0x00;
                 kcoefficients_dump->time[3] = 0x00;
                 kcoefficients_dump->time[4] = 0x00;
                 kcoefficients_dump->time[5] = 0x00;
                 kcoefficients_dump->sid = SID_K_DUMP;
                 kcoefficients_dump->pkt_cnt = 2;
                 kcoefficients_dump->pkt_nr = pkt_nr;
                 kcoefficients_dump->blk_nr = blk_nr;
                 //******************
                 // SOURCE DATA repeated N times with N in [0 .. PA_LFR_KCOEFF_BLK_NR]
                 // one blk is 2 + 4 * 32 = 130 bytes, 30 blks max in one packet (30 * 130 = 3900)
                 for (k=0; k<3900; k++)
                 {
                     kcoefficients_dump->kcoeff_blks[k] = 0x00;
                 }
             }
             void increment_seq_counter_destination_id_dump( unsigned char *packet_sequence_control, unsigned char destination_id )
             {
                 /** This function increment the packet sequence control parameter of a TC, depending on its destination ID.
                  *
                  * @param packet_sequence_control points to the packet sequence control which will be incremented
                  * @param destination_id is the destination ID of the TM, there is one counter by destination ID
                  *
                  * If the destination ID is not known, a dedicated counter is incremented.
                  *
                  */
                 unsigned short sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 unsigned char i;
                 switch (destination_id)
                 {
                 case SID_TC_GROUND:
                     i = GROUND;
                     break;
                 case SID_TC_MISSION_TIMELINE:
                     i = MISSION_TIMELINE;
                     break;
                 case SID_TC_TC_SEQUENCES:
                     i = TC_SEQUENCES;
                     break;
                 case SID_TC_RECOVERY_ACTION_CMD:
                     i = RECOVERY_ACTION_CMD;
                     break;
                 case SID_TC_BACKUP_MISSION_TIMELINE:
                     i = BACKUP_MISSION_TIMELINE;
                     break;
                 case SID_TC_DIRECT_CMD:
                     i = DIRECT_CMD;
                     break;
                 case SID_TC_SPARE_GRD_SRC1:
                     i = SPARE_GRD_SRC1;
                     break;
                 case SID_TC_SPARE_GRD_SRC2:
                     i = SPARE_GRD_SRC2;
                     break;
                 case SID_TC_OBCP:
                     i = OBCP;
                     break;
                 case SID_TC_SYSTEM_CONTROL:
                     i = SYSTEM_CONTROL;
                     break;
                 case SID_TC_AOCS:
                     i = AOCS;
                     break;
                 case SID_TC_RPW_INTERNAL:
                     i = RPW_INTERNAL;
                     break;
                 default:
                     i = GROUND;
                     break;
                 }
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                 sequence_cnt                = sequenceCounters_TM_DUMP[ i ] & 0x3fff;
                 new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
                 packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                 packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                 // increment the sequence counter
                 if ( sequenceCounters_TM_DUMP[ i ] < SEQ_CNT_MAX )
                 {
                     sequenceCounters_TM_DUMP[ i ] = sequenceCounters_TM_DUMP[ i ] + 1;
                 }
                 else
                 {
                     sequenceCounters_TM_DUMP[ i ] = 0;
                 }
             }

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