HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r119:104ee7d523c0

Sync at CNES before going back to 117

paul -

r119:104ee7d523c0 VHDLib206

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r119:104ee7d523c0

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FSW-qt/Makefile +2 -2

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.5) on: Tue Apr 15 07:45:50 2014
+            # Generated by qmake (2.01a) (Qt 4.8.5) on: Thu Apr 17 09:53:23 2014
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
-            DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=6 -DPRINT_MESSAGES_ON_CONSOLE -DPRINT_TASK_STATISTICS
+            DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=6 -DPRINT_MESSAGES_ON_CONSOLE -DPRINT_TASK_STATISTICS -DBOOT_MESSAGES
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../src/basic_parameters
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_processing.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c \
             		../src/tc_load_dump_parameters.c \
             		../src/tm_lfr_tc_exe.c \
             		../src/tc_acceptance.c \
             		../src/basic_parameters/basic_parameters.c
             OBJECTS       = obj/wf_handler.o \
             		obj/tc_handler.o \
             		obj/fsw_processing.o \
             		obj/fsw_misc.o \
             		obj/fsw_init.o \
             		obj/fsw_globals.o \
             		obj/fsw_spacewire.o \
             		obj/tc_load_dump_parameters.o \
             		obj/tm_lfr_tc_exe.o \
             		obj/tc_acceptance.o \
             		obj/basic_parameters.o
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
             		fsw-qt.pro
             QMAKE_TARGET  = fsw
             DESTDIR       = bin/
             TARGET        = bin/fsw
             first: all
             ####### Implicit rules
             .SUFFIXES: .o .c .cpp .cc .cxx .C
             .cpp.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cc.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cxx.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .C.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .c.o:
             	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
             ####### Build rules
             all: Makefile $(TARGET)
             $(TARGET):  $(OBJECTS)
             	@$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
             	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
             Makefile: fsw-qt.pro  /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
             	$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             /usr/lib64/qt4/mkspecs/common/unix.conf:
             /usr/lib64/qt4/mkspecs/common/linux.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
             /usr/lib64/qt4/mkspecs/common/g++-base.conf:
             /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
             /usr/lib64/qt4/mkspecs/qconfig.pri:
             /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
             /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
             /usr/lib64/qt4/mkspecs/features/qt_config.prf:
             /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
             /usr/lib64/qt4/mkspecs/features/default_pre.prf:
             sparc.pri:
             /usr/lib64/qt4/mkspecs/features/release.prf:
             /usr/lib64/qt4/mkspecs/features/default_post.prf:
             /usr/lib64/qt4/mkspecs/features/shared.prf:
             /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
             /usr/lib64/qt4/mkspecs/features/warn_on.prf:
             /usr/lib64/qt4/mkspecs/features/resources.prf:
             /usr/lib64/qt4/mkspecs/features/uic.prf:
             /usr/lib64/qt4/mkspecs/features/yacc.prf:
             /usr/lib64/qt4/mkspecs/features/lex.prf:
             /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
             qmake:  FORCE
             	@$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             dist:
             	@$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
             	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw1.0.0/ && (cd `dirname obj/fsw1.0.0` && $(TAR) fsw1.0.0.tar fsw1.0.0 && $(COMPRESS) fsw1.0.0.tar) && $(MOVE) `dirname obj/fsw1.0.0`/fsw1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw1.0.0
             clean:compiler_clean
             	-$(DEL_FILE) $(OBJECTS)
             	-$(DEL_FILE) *~ core *.core
             ####### Sub-libraries
             distclean: clean
             	-$(DEL_FILE) $(TARGET)
             	-$(DEL_FILE) Makefile
             grmon:
             	cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
             check: first
             compiler_rcc_make_all:
             compiler_rcc_clean:
             compiler_uic_make_all:
             compiler_uic_clean:
             compiler_image_collection_make_all: qmake_image_collection.cpp
             compiler_image_collection_clean:
             	-$(DEL_FILE) qmake_image_collection.cpp
             compiler_yacc_decl_make_all:
             compiler_yacc_decl_clean:
             compiler_yacc_impl_make_all:
             compiler_yacc_impl_clean:
             compiler_lex_make_all:
             compiler_lex_clean:
             compiler_clean:
             ####### Compile
             obj/wf_handler.o: ../src/wf_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
             obj/tc_handler.o: ../src/tc_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
             obj/fsw_processing.o: ../src/fsw_processing.c ../src/fsw_processing_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
             obj/fsw_spacewire.o: ../src/fsw_spacewire.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
             obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
             obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
             obj/tc_acceptance.o: ../src/tc_acceptance.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
             obj/basic_parameters.o: ../src/basic_parameters/basic_parameters.c ../src/basic_parameters/basic_parameters.h
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/basic_parameters.o ../src/basic_parameters/basic_parameters.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

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

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
-            CONFIG += console verbose cpu_usage_report
+            CONFIG += console verbose cpu_usage_report boot_messages
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-1-0
             DEFINES += SW_VERSION_N1=1 # major
             DEFINES += SW_VERSION_N2=0 # minor
             DEFINES += SW_VERSION_N3=0 # patch
             DEFINES += SW_VERSION_N4=6 # internal
             contains( CONFIG, debug_tch ) {
                 DEFINES += DEBUG_TCH
             }
             contains( CONFIG, vhdl_dev ) {
                 DEFINES += VHDL_DEV
             }
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, debug_messages ) {
                 DEFINES += DEBUG_MESSAGES
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             contains( CONFIG, stack_report ) {
                 DEFINES += PRINT_STACK_REPORT
             }
             contains( CONFIG, boot_messages ) {
                 DEFINES += BOOT_MESSAGES
             }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             INCLUDEPATH += \
                 ../src \
                 ../header \
                 ../src/basic_parameters
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_processing.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c \
                 ../src/basic_parameters/basic_parameters.c
             HEADERS += \
                 ../header/wf_handler.h \
                 ../header/tc_handler.h \
                 ../header/grlib_regs.h \
                 ../header/fsw_processing.h \
                 ../header/fsw_params.h \
                 ../header/fsw_misc.h \
                 ../header/fsw_init.h \
                 ../header/ccsds_types.h \
                 ../header/fsw_params_processing.h \
                 ../header/fsw_spacewire.h \
                 ../header/tc_load_dump_parameters.h \
                 ../header/tm_lfr_tc_exe.h \
                 ../header/tc_acceptance.h \
                 ../header/fsw_params_nb_bytes.h \
                 ../src/basic_parameters/basic_parameters.h

FSW-qt/fsw-qt.pro.user +7 -145

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by QtCreator 3.0.1, 2014-04-16T10:43:41. -->
+            <!-- Written by QtCreator 3.0.1, 2014-04-17T09:46:14. -->
             <qtcreator>
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                 <value type="QString" key="language">Cpp</value>
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                 </valuemap>
                </valuemap>
                <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
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header/fsw_init.h +2 -1

             #ifndef FSW_INIT_H_INCLUDED
             #define FSW_INIT_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "fsw_params.h"
             #include "fsw_misc.h"
             #include "fsw_processing.h"
             #include "tc_handler.h"
             #include "wf_handler.h"
             #include "fsw_spacewire.h"
             extern rtems_name  Task_name[20];       /* array of task names */
             extern rtems_id    Task_id[20];         /* array of task ids */
             // RTEMS TASKS
             rtems_task Init( rtems_task_argument argument);
             // OTHER functions
             void create_names( void );
             int create_all_tasks( void );
             int start_all_tasks( void );
             //
             rtems_status_code create_message_queues( void );
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
-            rtems_status_code get_message_queue_id_matr( rtems_id *queue_id );
+            rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id );
+            rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
             //
             int start_recv_send_tasks( void );
             //
             void init_local_mode_parameters( void );
             void reset_local_time( void );
             extern int rtems_cpu_usage_report( void );
             extern int rtems_cpu_usage_reset( void );
             extern void rtems_stack_checker_report_usage( void );
             extern int sched_yield( void );
             #endif // FSW_INIT_H_INCLUDED

header/fsw_params.h +62 -10

             #ifndef FSW_PARAMS_H_INCLUDED
             #define FSW_PARAMS_H_INCLUDED
             #include "grlib_regs.h"
             #include "fsw_params_processing.h"
             #include "fsw_params_nb_bytes.h"
             #include "tm_byte_positions.h"
             #include "ccsds_types.h"
             #define GRSPW_DEVICE_NAME "/dev/grspw0"
             #define UART_DEVICE_NAME "/dev/console"
             typedef struct ring_node
             {
                 struct ring_node *previous;
                 int buffer_address;
                 struct ring_node *next;
                 unsigned int status;
             } ring_node;
             typedef struct {
+                // F0
                 unsigned int f0;
                 unsigned int norm_bp1_f0;
                 unsigned int norm_bp2_f0;
                 unsigned int norm_asm_f0;
                 unsigned int sbm_bp1_f0;
                 unsigned int sbm_bp2_f0;
+                // F1
+                unsigned int f1;
+                unsigned int norm_bp1_f1;
+                unsigned int norm_bp2_f1;
+                unsigned int norm_asm_f1;
+                unsigned int sbm_bp1_f1;
+                unsigned int sbm_bp2_f1;
+                // F2
+                unsigned int f2;
+                unsigned int norm_bp1_f2;
+                unsigned int norm_bp2_f2;
+                unsigned int norm_asm_f2;
+                unsigned int sbm_bp1_f2;
+                unsigned int sbm_bp2_f2;
             } nb_sm_t;
             typedef struct {
                 unsigned int norm_bp1_f0;
                 unsigned int norm_bp2_f0;
                 unsigned int norm_asm_f0;
                 unsigned int burst_sbm_bp1_f0;
                 unsigned int burst_sbm_bp2_f0;
                 unsigned int burst_bp1_f0;
                 unsigned int burst_bp2_f0;
                 unsigned int sbm1_bp1_f0;
                 unsigned int sbm1_bp2_f0;
                 unsigned int sbm2_bp1_f0;
                 unsigned int sbm2_bp2_f0;
-            } nb_sm_before_bp_t;
+            } nb_sm_before_bp_asm_f0;
+            typedef struct {
+                unsigned int norm_bp1_f1;
+                unsigned int norm_bp2_f1;
+                unsigned int norm_asm_f1;
+                unsigned int burst_sbm_bp1_f1;
+                unsigned int burst_sbm_bp2_f1;
+                unsigned int burst_bp1_f1;
+                unsigned int burst_bp2_f1;
+                unsigned int sbm2_bp1_f1;
+                unsigned int sbm2_bp2_f1;
+            } nb_sm_before_bp_asm_f1;
+            typedef struct {
+                unsigned int norm_bp1_f2;
+                unsigned int norm_bp2_f2;
+                unsigned int norm_asm_f2;
+                unsigned int burst_sbm_bp1_f2;
+                unsigned int burst_sbm_bp2_f2;
+                unsigned int burst_bp1_f2;
+                unsigned int burst_bp2_f2;
+                unsigned int sbm2_bp1_f2;
+                unsigned int sbm2_bp2_f2;
+            } nb_sm_before_bp_asm_f2;
             //************************
             // flight software version
             // this parameters is handled by the Qt project options
             #define NB_PACKETS_PER_GROUP_OF_CWF         8   // 8 packets containing 336 blk
             #define NB_PACKETS_PER_GROUP_OF_CWF_LIGHT   4   // 4 packets containing 672 blk
             #define NB_SAMPLES_PER_SNAPSHOT 2688    // 336 * 8 = 672 * 4 = 2688
             #define TIME_OFFSET 2
             #define TIME_OFFSET_IN_BYTES 8
             #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
             #define NB_BYTES_SWF_BLK (2 * 6)
             #define NB_WORDS_SWF_BLK 3
             #define NB_BYTES_CWF3_LIGHT_BLK 6
             #define WFRM_INDEX_OF_LAST_PACKET 6  // waveforms are transmitted in groups of 2048 blocks, 6 packets of 340 and 1 of 8
             #define NB_RING_NODES_F0 3      // AT LEAST 3
             #define NB_RING_NODES_F1 5      // AT LEAST 3
             #define NB_RING_NODES_F2 5      // AT LEAST 3
             //**********
             // LFR MODES
             #define LFR_MODE_STANDBY    0
             #define LFR_MODE_NORMAL     1
             #define LFR_MODE_BURST      2
             #define LFR_MODE_SBM1       3
             #define LFR_MODE_SBM2       4
             #define TDS_MODE_LFM        5
             #define TDS_MODE_STANDBY    0
             #define TDS_MODE_NORMAL     1
             #define TDS_MODE_BURST      2
             #define TDS_MODE_SBM1       3
             #define TDS_MODE_SBM2       4
             #define THR_MODE_STANDBY    0
             #define THR_MODE_NORMAL     1
             #define THR_MODE_BURST      2
             #define RTEMS_EVENT_MODE_STANDBY        RTEMS_EVENT_0
             #define RTEMS_EVENT_MODE_NORMAL         RTEMS_EVENT_1
             #define RTEMS_EVENT_MODE_BURST          RTEMS_EVENT_2
             #define RTEMS_EVENT_MODE_SBM1           RTEMS_EVENT_3
             #define RTEMS_EVENT_MODE_SBM2           RTEMS_EVENT_4
             #define RTEMS_EVENT_MODE_SBM2_WFRM      RTEMS_EVENT_5
             #define RTEMS_EVENT_NORM_BP1_F0         RTEMS_EVENT_6
             #define RTEMS_EVENT_NORM_BP2_F0         RTEMS_EVENT_7
             #define RTEMS_EVENT_NORM_ASM_F0         RTEMS_EVENT_8
-            #define RTEMS_EVENT_BURST_SBM_BP1_F0    RTEMS_EVENT_9
+            #define RTEMS_EVENT_NORM_BP1_F1         RTEMS_EVENT_9
-            #define RTEMS_EVENT_BURST_SBM_BP2_F0    RTEMS_EVENT_10
+            #define RTEMS_EVENT_NORM_BP2_F1         RTEMS_EVENT_10
+            #define RTEMS_EVENT_NORM_ASM_F1         RTEMS_EVENT_11
+            #define RTEMS_EVENT_NORM_BP1_F2         RTEMS_EVENT_12
+            #define RTEMS_EVENT_NORM_BP2_F2         RTEMS_EVENT_13
+            #define RTEMS_EVENT_NORM_ASM_F2         RTEMS_EVENT_14
+            #define RTEMS_EVENT_BURST_SBM_BP1_F0    RTEMS_EVENT_15
+            #define RTEMS_EVENT_BURST_SBM_BP2_F0    RTEMS_EVENT_16
+            #define RTEMS_EVENT_BURST_SBM_BP1_F1    RTEMS_EVENT_17
+            #define RTEMS_EVENT_BURST_SBM_BP2_F1    RTEMS_EVENT_18
+            #define RTEMS_EVENT_BURST_SBM_BP1_F2    RTEMS_EVENT_19
+            #define RTEMS_EVENT_BURST_SBM_BP2_F2    RTEMS_EVENT_20
             //****************************
             // LFR DEFAULT MODE PARAMETERS
             // COMMON
             #define DEFAULT_SY_LFR_COMMON0 0x00
             #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
             // NORM
             #define SY_LFR_N_SWF_L 2048 // nb sample
             #define SY_LFR_N_SWF_P 300  // sec
             #define SY_LFR_N_ASM_P 3600 // sec
             #define SY_LFR_N_BP_P0 4    // sec
             #define SY_LFR_N_BP_P1 20   // sec
             #define SY_LFR_N_CWF_LONG_F3 0      // 0 => production of light continuous waveforms at f3
             #define MIN_DELTA_SNAPSHOT 16       // sec
             // BURST
             #define DEFAULT_SY_LFR_B_BP_P0 1    // sec
             #define DEFAULT_SY_LFR_B_BP_P1 5    // sec
             // SBM1
             #define DEFAULT_SY_LFR_S1_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S1_BP_P1 1   // sec
             // SBM2
             #define DEFAULT_SY_LFR_S2_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S2_BP_P1 5   // sec
             // ADDITIONAL PARAMETERS
             #define TIME_BETWEEN_TWO_SWF_PACKETS 30     // nb x 10 ms => 300 ms
             #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000  // nb x 10 ms => 10 s
             // STATUS WORD
             #define DEFAULT_STATUS_WORD_BYTE0 0x0d  // [0000] [1] [101] mode 4 bits / SPW enabled 1 bit / state is run 3 bits
             #define DEFAULT_STATUS_WORD_BYTE1 0x00
             //
             #define SY_LFR_DPU_CONNECT_TIMEOUT 100  // 100 * 10 ms = 1 s
             #define SY_LFR_DPU_CONNECT_ATTEMPT 3
             //****************************
             //*****************************
             // APB REGISTERS BASE ADDRESSES
             #define REGS_ADDR_APBUART           0x80000100
             #define REGS_ADDR_GPTIMER           0x80000300
             #define REGS_ADDR_GRSPW             0x80000500
             #define REGS_ADDR_TIME_MANAGEMENT   0x80000600
             #define REGS_ADDR_GRGPIO            0x80000b00
             #define REGS_ADDR_SPECTRAL_MATRIX   0x80000f00
             #define REGS_ADDR_WAVEFORM_PICKER   0x80000f40
             #define APBUART_CTRL_REG_MASK_DB    0xfffff7ff
             #define APBUART_CTRL_REG_MASK_TE    0x00000002
             #define APBUART_SCALER_RELOAD_VALUE 0x00000050      // 25 MHz => about 38400 (0x50)
             //**********
             // IRQ LINES
             #define IRQ_SM_SIMULATOR 9
             #define IRQ_SPARC_SM_SIMULATOR 0x19     // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WAVEFORM_PICKER 14
             #define IRQ_SPARC_WAVEFORM_PICKER 0x1e  // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_SPECTRAL_MATRIX 6
             #define IRQ_SPARC_SPECTRAL_MATRIX 0x16  // see sparcv8.pdf p.76 for interrupt levels
             //*****
             // TIME
             #define CLKDIV_SM_SIMULATOR (10416 - 1)     // 10 ms => nominal is 1/96 = 0.010416667, 10417 - 1 = 10416
             #define TIMER_SM_SIMULATOR 1
             #define HK_PERIOD                           100     // 100 * 10ms => 1s
             #define SY_LFR_TIME_SYN_TIMEOUT_in_ms       2000
             #define SY_LFR_TIME_SYN_TIMEOUT_in_ticks    200     // 200 * 10 ms = 2 s
             //**********
             // LPP CODES
             #define LFR_SUCCESSFUL  0
             #define LFR_DEFAULT     1
             #define LFR_EXE_ERROR   2
             //******
             // RTEMS
             #define TASKID_RECV 1
             #define TASKID_ACTN 2
             #define TASKID_SPIQ 3
             #define TASKID_SMIQ 4
             #define TASKID_STAT 5
             #define TASKID_AVF0 6
             #define TASKID_SWBD 7
             #define TASKID_WFRM 8
             #define TASKID_DUMB 9
             #define TASKID_HOUS 10
-            #define TASKID_MATR 11
+            #define TASKID_PRC0 11
             #define TASKID_CWF3 12
             #define TASKID_CWF2 13
             #define TASKID_CWF1 14
             #define TASKID_SEND 15
             #define TASKID_WTDG 16
             #define TASK_PRIORITY_SPIQ 5
             #define TASK_PRIORITY_SMIQ 10
             #define TASK_PRIORITY_WTDG 20
             #define TASK_PRIORITY_HOUS 30
             #define TASK_PRIORITY_CWF1 35   // CWF1 and CWF2 are never running together
             #define TASK_PRIORITY_CWF2 35   //
             #define TASK_PRIORITY_SWBD 37   // SWBD has a lower priority than WFRM, this is to extract the snapshot before sending it
             #define TASK_PRIORITY_WFRM 40
             #define TASK_PRIORITY_CWF3 40   // there is a printf in this function, be careful with its priority wrt CWF1
             #define TASK_PRIORITY_SEND 45
             #define TASK_PRIORITY_RECV 50
             #define TASK_PRIORITY_ACTN 50
             #define TASK_PRIORITY_AVF0 60
             #define TASK_PRIORITY_BPF0 60
-            #define TASK_PRIORITY_MATR 100
+            #define TASK_PRIORITY_PRC0 100
             #define TASK_PRIORITY_STAT 200
             #define TASK_PRIORITY_DUMB 200
             #define MSG_QUEUE_COUNT_RECV  10
-            #define MSG_QUEUE_COUNT_SEND   50
+            #define MSG_QUEUE_COUNT_SEND  50
-            #define MSG_QUEUE_COUNT_MATR    10
+            #define MSG_QUEUE_COUNT_PRC0  10
+            #define MSG_QUEUE_COUNT_PRC1  10
             //#define MSG_QUEUE_SIZE_SEND (PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES)
-            #define MSG_QUEUE_SIZE_SEND        810 // 806 + 4 => TM_LFR_SCIENCE_BURST_BP2_F1
+            #define MSG_QUEUE_SIZE_SEND             810 // 806 + 4 => TM_LFR_SCIENCE_BURST_BP2_F1
             #define ACTION_MSG_SPW_IOCTL_SEND_SIZE  24  // hlen *hdr dlen *data sent options
-            #define MSG_QUEUE_SIZE_MATR             20  // two pointers and one rtems_event + 2 integers
+            #define MSG_QUEUE_SIZE_PRC0             20  // two pointers and one rtems_event + 2 integers
+            #define MSG_QUEUE_SIZE_PRC1             20  // two pointers and one rtems_event + 2 integers
             #define QUEUE_RECV 0
             #define QUEUE_SEND 1
-            #define QUEUE_MATR 2
+            #define QUEUE_PRC0 2
+            #define QUEUE_PRC1 3
             //*******
             // MACROS
             #ifdef PRINT_MESSAGES_ON_CONSOLE
             #define PRINTF(x) printf(x);
             #define PRINTF1(x,y) printf(x,y);
             #define PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define PRINTF(x) ;
             #define PRINTF1(x,y) ;
             #define PRINTF2(x,y,z) ;
             #endif
             #ifdef BOOT_MESSAGES
             #define BOOT_PRINTF(x) printf(x);
             #define BOOT_PRINTF1(x,y) printf(x,y);
             #define BOOT_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define BOOT_PRINTF(x) ;
             #define BOOT_PRINTF1(x,y) ;
             #define BOOT_PRINTF2(x,y,z) ;
             #endif
             #ifdef DEBUG_MESSAGES
             #define DEBUG_PRINTF(x) printf(x);
             #define DEBUG_PRINTF1(x,y) printf(x,y);
             #define DEBUG_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define DEBUG_PRINTF(x) ;
             #define DEBUG_PRINTF1(x,y) ;
             #define DEBUG_PRINTF2(x,y,z) ;
             #endif
             #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
             struct param_local_str{
                 unsigned int local_sbm1_nb_cwf_sent;
                 unsigned int local_sbm1_nb_cwf_max;
                 unsigned int local_sbm2_nb_cwf_sent;
                 unsigned int local_sbm2_nb_cwf_max;
                 unsigned int local_nb_interrupt_f0_MAX;
             };
             #endif // FSW_PARAMS_H_INCLUDED

header/fsw_params_processing.h +1 0

             #ifndef FSW_PARAMS_PROCESSING_H
             #define FSW_PARAMS_PROCESSING_H
             #define NB_BINS_PER_SM          128
             #define NB_VALUES_PER_SM        25
             #define TOTAL_SIZE_SM           3200    // 25 * 128
             #define TOTAL_SIZE_NORM_BP1_F0   99     // 11 * 9 = 99
             #define TOTAL_SIZE_NORM_BP1_F1  117     // 13 * 9 = 117
             #define TOTAL_SIZE_NORM_BP1_F2  108     // 12 * 9 = 108
             #define TOTAL_SIZE_SBM1_BP1_F0  198     // 22 * 9 = 198
             //
             #define NB_RING_NODES_SM_F0             12  // AT LEAST 3
             #define NB_RING_NODES_SM_F1             3   // AT LEAST 3
             #define NB_RING_NODES_SM_F2             3   // AT LEAST 3
             #define NB_RING_NODES_ASM_BURST_SBM_F0  10  // AT LEAST 3
             #define NB_RING_NODES_ASM_NORM_F0  10  // AT LEAST 3
             //
             #define NB_BINS_PER_ASM_F0  88
             #define NB_BINS_PER_PKT_ASM_F0  44
             #define TOTAL_SIZE_ASM_F0_IN_BYTES   4400    // 25 * 88 * 2
             #define ASM_F0_INDICE_START 17      // 88 bins
             #define ASM_F0_INDICE_STOP  104     // 2 packets of 44 bins
             //
             #define NB_BINS_PER_ASM_F1  104
             #define NB_BINS_PER_PKT_ASM_F1  52
             #define TOTAL_SIZE_ASM_F1   2600    // 25 * 104
             #define ASM_F1_INDICE_START 6       // 104 bins
             #define ASM_F1_INDICE_STOP  109     // 2 packets of 52 bins
             //
             #define NB_BINS_PER_ASM_F2  96
             #define NB_BINS_PER_PKT_ASM_F2  48
             #define TOTAL_SIZE_ASM_F2   2400    // 25 * 96
             #define ASM_F2_INDICE_START 7       // 96 bins
             #define ASM_F2_INDICE_STOP  102     // 2 packets of 48 bins
             //
             #define NB_BINS_COMPRESSED_SM_F0        11
             #define NB_BINS_COMPRESSED_SM_F1        13
             #define NB_BINS_COMPRESSED_SM_F2        12
             #define NB_BINS_COMPRESSED_SM_SBM_F0    22
             //
             #define NB_BINS_TO_AVERAGE_ASM_F0       8
             #define NB_BINS_TO_AVERAGE_ASM_F1       8
             #define NB_BINS_TO_AVERAGE_ASM_F2       8
             #define NB_BINS_TO_AVERAGE_ASM_SBM_F0   4
             //
             #define TOTAL_SIZE_COMPRESSED_ASM_F0    275     // 11 * 25 WORDS
             #define TOTAL_SIZE_COMPRESSED_ASM_F1    325     // 13 * 25 WORDS
             #define TOTAL_SIZE_COMPRESSED_ASM_F2    300     // 12 * 25 WORDS
             #define TOTAL_SIZE_COMPRESSED_ASM_SBM1  550     // 22 * 25 WORDS
             // NORM
             #define NB_SM_BEFORE_NORM_BP1_F0        384     // 96 * 4
             #define NB_SM_BEFORE_NORM_BP2_F0        1920    // 96 * 20
             #define NB_SM_BEFORE_NORM_ASM_F0        384     // 384 matrices at f0 = 4.00 second
             // BURST
             #define NB_SM_BEFORE_BURST_BP1_F0       96      // 96  matrices at f0 = 1.00 second
             #define NB_SM_BEFORE_BURST_BP2_F0       480     // 480 matrices at f0 = 5.00 second
             // SBM1
             #define NB_SM_BEFORE_SBM1_BP1_F0        24      // 24  matrices at f0 = 0.25 second
             #define NB_SM_BEFORE_SBM1_BP2_F0        96      // 96  matrices at f0 = 1.00 second
             // SBM2
             #define NB_SM_BEFORE_SBM2_BP1_F0        96      // 96  matrices at f0 = 1.00 second
             #define NB_SM_BEFORE_SBM2_BP2_F0        480     // 480 matrices at f0 = 5.00 second
             // GENERAL
             #define NB_SM_BEFORE_AVF0               8
+            #define NB_SM_BEFORE_AVF1               8
             #endif // FSW_PARAMS_PROCESSING_H

header/fsw_processing.h +8 -5

             #ifndef FSW_PROCESSING_H_INCLUDED
             #define FSW_PROCESSING_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <math.h>
             #include <stdlib.h> // abs() is in the stdlib
             #include <stdio.h>  // printf()
             #include <math.h>
             #include "fsw_params.h"
             #include "fsw_spacewire.h"
             typedef struct ring_node_sm
             {
                 struct ring_node_sm *previous;
                 struct ring_node_sm *next;
                 int buffer_address;
                 unsigned int status;
                 unsigned int coarseTime;
                 unsigned int fineTime;
             } ring_node_sm;
             typedef struct ring_node_asm
             {
                 struct ring_node_asm *previous;
                 struct ring_node_asm *next;
                 float  matrix[ TOTAL_SIZE_SM ];
                 unsigned int status;
             } ring_node_asm;
             typedef struct bp_packet
             {
                 Header_TM_LFR_SCIENCE_BP_t header;
                 unsigned char data[ 30 * 22 ];   // MAX size is 22 * 30 [TM_LFR_SCIENCE_BURST_BP2_F1]
             } bp_packet;
             typedef struct bp_packet_with_spare
             {
                 Header_TM_LFR_SCIENCE_BP_with_spare_t header;
                 unsigned char data[ 9 * 13 ];   // only for TM_LFR_SCIENCE_NORMAL_BP1_F0 and F1
             } bp_packet_with_spare;
             typedef struct asm_msg
             {
-                ring_node_asm *norm_f0;
+                ring_node_asm *norm;
-                ring_node_asm *burst_sbmf0;
+                ring_node_asm *burst_sbm;
                 rtems_event_set event;
                 unsigned int coarseTime;
                 unsigned int fineTime;
             } asm_msg;
             extern nb_sm_t nb_sm;
-            extern nb_sm_before_bp_t nb_sm_before_bp;
+            extern nb_sm_before_bp_asm_f0 nb_sm_before_f0;
+            extern nb_sm_before_bp_asm_f1 nb_sm_before_f1;
+            extern nb_sm_before_bp_asm_f2 nb_sm_before_f2;
             extern volatile int sm_f0[ ];
             extern volatile int sm_f1[ ];
             extern volatile int sm_f2[ ];
             // parameters
             extern struct param_local_str param_local;
             // registers
             extern time_management_regs_t *time_management_regs;
             extern spectral_matrix_regs_t *spectral_matrix_regs;
             extern rtems_name  misc_name[5];
             extern rtems_id    Task_id[20];         /* array of task ids */
             // ISR
             void reset_nb_sm_f0( unsigned char lfrMode );
             rtems_isr spectral_matrices_isr( rtems_vector_number vector );
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector );
             // RTEMS TASKS
             rtems_task smiq_task( rtems_task_argument argument ); // added to test the spectral matrix simulator
             rtems_task avf0_task( rtems_task_argument lfrRequestedMode );
-            rtems_task matr_task( rtems_task_argument lfrRequestedMode );
+            rtems_task prc0_task( rtems_task_argument lfrRequestedMode );
             //******************
             // Spectral Matrices
             void SM_init_rings( void );
             void ASM_init_rings( void );
             void SM_reset_current_ring_nodes( void );
             void ASM_reset_current_ring_node( void );
             void ASM_init_header( Header_TM_LFR_SCIENCE_ASM_t *header);
             void SM_average(float *averaged_spec_mat_f0, float *averaged_spec_mat_f1,
                               ring_node_sm *ring_node_tab[],
                               unsigned int firstTimeF0, unsigned int firstTimeF1 );
             void ASM_reorganize_and_divide(float *averaged_spec_mat, float *averaged_spec_mat_reorganized,
                                            float divider );
             void ASM_compress_reorganize_and_divide(float *averaged_spec_mat, float *compressed_spec_mat,
                                               float divider,
                                               unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage , unsigned char ASMIndexStart);
             void ASM_convert(volatile float *input_matrix, char *output_matrix);
             void ASM_send(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send, rtems_id queue_id);
             //*****************
             // Basic Parameters
             void BP_reset_current_ring_nodes( void );
             void BP_init_header(Header_TM_LFR_SCIENCE_BP_t *header,
                                 unsigned int apid, unsigned char sid,
                                 unsigned int packetLength , unsigned char blkNr);
             void BP_init_header_with_spare(Header_TM_LFR_SCIENCE_BP_with_spare_t *header,
                                            unsigned int apid, unsigned char sid,
                                            unsigned int packetLength, unsigned char blkNr );
             void BP_send(char *data,
                            rtems_id queue_id ,
                            unsigned int nbBytesToSend );
             //******************
             // general functions
             void reset_spectral_matrix_regs( void );
             void set_time(unsigned char *time, unsigned char *timeInBuffer );
-            extern rtems_status_code get_message_queue_id_matr( rtems_id *queue_id );
+            extern rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id );
+            extern rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
             #endif // FSW_PROCESSING_H_INCLUDED

header/tc_load_dump_parameters.h +3 -1

             #ifndef TC_LOAD_DUMP_PARAMETERS_H
             #define TC_LOAD_DUMP_PARAMETERS_H
             #include <rtems.h>
             #include <stdio.h>
             #include "fsw_params.h"
             #include "wf_handler.h"
             #include "tm_lfr_tc_exe.h"
             #include "fsw_misc.h"
             extern nb_sm_t nb_sm;
-            extern nb_sm_before_bp_t nb_sm_before_bp;
+            extern nb_sm_before_bp_asm_f0 nb_sm_before_f0;
+            extern nb_sm_before_bp_asm_f1 nb_sm_before_f1;
+            extern nb_sm_before_bp_asm_f2 nb_sm_before_f2;
             int action_load_common_par( ccsdsTelecommandPacket_t *TC );
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_dump_par(rtems_id queue_id );
             // NORMAL
             int set_sy_lfr_n_swf_l(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int set_sy_lfr_n_swf_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_bp_p1( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_cwf_long_f3(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             // BURST
             int set_sy_lfr_b_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_b_bp_p1( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             // SBM1
             int set_sy_lfr_s1_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_s1_bp_p1( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             // SBM2
             int set_sy_lfr_s2_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_s2_bp_p1( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             // TC_LFR_UPDATE_INFO
             unsigned int check_update_info_hk_lfr_mode( unsigned char mode );
             unsigned int check_update_info_hk_tds_mode( unsigned char mode );
             unsigned int check_update_info_hk_thr_mode( unsigned char mode );
             void init_parameter_dump( void );
             #endif // TC_LOAD_DUMP_PARAMETERS_H

src/fsw_globals.c +3 -1

             /** Global variables of the LFR flight software.
              *
              * @file
              * @author P. LEROY
              *
              * Among global variables, there are:
              * - RTEMS names and id.
              * - APB configuration registers.
              * - waveforms global buffers, used by the waveform picker hardware module to store data.
              * - spectral  matrices buffesr, used by the hardware module to store data.
              * - variable related to LFR modes parameters.
              * - the global HK packet buffer.
              * - the global dump parameter buffer.
              *
              */
             #include <rtems.h>
             #include <grspw.h>
             #include "ccsds_types.h"
             #include "grlib_regs.h"
             #include "fsw_params.h"
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[5];
             rtems_id    misc_id[5];
             rtems_name  Task_name[20];       /* array of task names */
             rtems_id    Task_id[20];         /* array of task ids */
             unsigned int maxCount;
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             // WAVEFORMS GLOBAL VARIABLES   // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes = 24584
                                             //  97 * 256 = 24832 => delta = 248 bytes = 62 words
             // WAVEFORMS GLOBAL VARIABLES   // 2688 * 3 * 4 + 2 * 4 = 32256 + 8 bytes = 32264
                                             // 127 * 256 = 32512 => delta = 248 bytes = 62 words
             // F0
             volatile int wf_snap_f0[ NB_RING_NODES_F0 ][ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) + TIME_OFFSET + 62 ] __attribute__((aligned(0x100)));
             // F1 F2
             volatile int wf_snap_f1[ NB_RING_NODES_F1 ][ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) + TIME_OFFSET + 62 ] __attribute__((aligned(0x100)));
             volatile int wf_snap_f2[ NB_RING_NODES_F2 ][ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) + TIME_OFFSET + 62 ] __attribute__((aligned(0x100)));
             // F3
             volatile int wf_cont_f3_a    [ (NB_SAMPLES_PER_SNAPSHOT) * NB_WORDS_SWF_BLK        + TIME_OFFSET          ] __attribute__((aligned(0x100)));
             volatile int wf_cont_f3_b    [ (NB_SAMPLES_PER_SNAPSHOT) * NB_WORDS_SWF_BLK        + TIME_OFFSET          ] __attribute__((aligned(0x100)));
             char         wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK + TIME_OFFSET_IN_BYTES ] __attribute__((aligned(0x100)));
             //***********************************
             // SPECTRAL MATRICES GLOBAL VARIABLES
             nb_sm_t nb_sm;
-            nb_sm_before_bp_t nb_sm_before_bp;
+            nb_sm_before_bp_asm_f0 nb_sm_before_f0;
+            nb_sm_before_bp_asm_f1 nb_sm_before_f1;
+            nb_sm_before_bp_asm_f2 nb_sm_before_f2;
             // alignment constraints for the spectral matrices buffers => the first data after the time (8 bytes) shall be aligned on 0x00
             volatile int sm_f0[ NB_RING_NODES_SM_F0 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             // APB CONFIGURATION REGISTERS
             time_management_regs_t      *time_management_regs   = (time_management_regs_t*)     REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t              *gptimer_regs           = (gptimer_regs_t *)            REGS_ADDR_GPTIMER;
             waveform_picker_regs_new_t  *waveform_picker_regs   = (waveform_picker_regs_new_t*) REGS_ADDR_WAVEFORM_PICKER;
             spectral_matrix_regs_t      *spectral_matrix_regs   = (spectral_matrix_regs_t*)     REGS_ADDR_SPECTRAL_MATRIX;
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
             unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID];
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +39 -17

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5  // STAT (1s), send SWF (0.3s), send CWF3 (1s)
-            #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 3
+            #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 4
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 reset_local_time();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 enable_apbuart_transmitter();
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
-                PRINTF1("%d.", SW_VERSION_N2)
+                PRINTF1("%d."   , SW_VERSION_N2)
-                PRINTF1("%d.", SW_VERSION_N3)
+                PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d             **\n", SW_VERSION_N4)
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_waveform_rings();      // initialize the waveform rings
                 SM_init_rings();            // initialize spectral matrices rings
                 ASM_init_rings();           // initialize the average spectral matrix ring (just for burst, sbm1 and sbm2 asm @ f0 storage)
                 reset_wfp_burst_enable();
                 reset_wfp_status();
                 set_wfp_data_shaping();
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //******************************
                 // <SPECTRAL MATRICES SIMULATOR>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );
                 // </SPECTRAL MATRICES SIMULATOR>
                 //*******************************
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 send_dumb_hk();
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 set_local_nb_interrupt_f0_MAX();
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = 0x00;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
                 sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = 0x02;  // software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
-                Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
+                Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
-                misc_name[QUEUE_MATR] = rtems_build_name( 'Q', '_', 'M', 'R' );
+                misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
+                misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WTDG
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // SMIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // MATR
                 {
                     status = rtems_task_create(
-                        Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE * 2,
+                        Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
-                        RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
+                        RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // STAT
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                     );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WTDG
                 {
                     status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // SMIQ
                 {
                     status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_BPPR\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
-                if (status == RTEMS_SUCCESSFUL)     // MATR
+                if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
-                    status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
+                    status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
-                        BOOT_PRINTF("in INIT *** Error starting TASK_MATR\n")
+                        BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // STAT
                 {
                     status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_matr;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
-                //************************************************************************
+                //*****************************************************************************
-                // create the queue for handling averaged spectral matrices for processing
+                // create the queue for handling averaged spectral matrices for processing @ f0
-                status_matr = rtems_message_queue_create( misc_name[QUEUE_MATR],
+                status_matr = rtems_message_queue_create( misc_name[QUEUE_PRC0],
-                                                          MSG_QUEUE_COUNT_MATR, MSG_QUEUE_SIZE_MATR,
+                                                          MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
-                    PRINTF1("in create_message_queues *** ERR creating MATR queue, %d\n", status_matr)
+                    PRINTF1("in create_message_queues *** ERR creating PR_0 queue, %d\n", status_matr)
                 }
+                //*****************************************************************************
+                // create the queue for handling averaged spectral matrices for processing @ f1
+            //    status_matr = rtems_message_queue_create( misc_name[QUEUE_PRC1],
+            //                                              MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
+            //                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
+            //    if ( status_send != RTEMS_SUCCESSFUL ) {
+            //        PRINTF1("in create_message_queues *** ERR creating PR_1 queue, %d\n", status_matr)
+            //    }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else
                 {
                     ret = status_matr;
                 }
                 return ret;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
-            rtems_status_code get_message_queue_id_matr( rtems_id *queue_id )
+            rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
-                queue_name = rtems_build_name( 'Q', '_', 'M', 'R' );
+                queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
+            rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
+            {
+                rtems_status_code status;
+                rtems_name queue_name;
+                queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
+                status =  rtems_message_queue_ident( queue_name, 0, queue_id );
+                return status;
+            }

src/fsw_processing.c +356 -169

             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include <fsw_processing.h>
             #include "fsw_processing_globals.c"
             //************************
             // spectral matrices rings
             ring_node_sm sm_ring_f0[ NB_RING_NODES_SM_F0 ];
             ring_node_sm sm_ring_f1[ NB_RING_NODES_SM_F1 ];
             ring_node_sm sm_ring_f2[ NB_RING_NODES_SM_F2 ];
             ring_node_sm *current_ring_node_sm_f0;
-            ring_node_sm *ring_node_for_averaging_sm_f0;
             ring_node_sm *current_ring_node_sm_f1;
             ring_node_sm *current_ring_node_sm_f2;
+            ring_node_sm *ring_node_for_averaging_sm_f0;
+            ring_node_sm *ring_node_for_averaging_sm_f1;
             ring_node_asm asm_ring_burst_sbm_f0[ NB_RING_NODES_ASM_BURST_SBM_F0 ];
             ring_node_asm asm_ring_norm_f0     [ NB_RING_NODES_ASM_BURST_SBM_F0 ];
             ring_node_asm *current_ring_node_asm_burst_sbm_f0;
+            ring_node_asm *current_ring_node_asm_burst_sbm_f1;
             ring_node_asm *current_ring_node_asm_norm_f0;
+            ring_node_asm *current_ring_node_asm_norm_f1;
             float asm_norm_f0          [ TOTAL_SIZE_SM ];
             float asm_f0_reorganized   [ TOTAL_SIZE_SM ];
             char  asm_f0_char          [ TIME_OFFSET_IN_BYTES + (TOTAL_SIZE_SM * 2) ];
             float compressed_sm_norm_f0[ TOTAL_SIZE_COMPRESSED_ASM_F0   ];
             float compressed_sm_sbm    [ TOTAL_SIZE_COMPRESSED_ASM_SBM1 ];
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             void reset_nb_sm_f0( unsigned char lfrMode )
             {
                 nb_sm.f0 = 0;
                 nb_sm.norm_bp1_f0 = 0;
                 nb_sm.norm_bp2_f0 = 0;
                 nb_sm.norm_asm_f0 = 0;
                 nb_sm.sbm_bp1_f0 = 0;
                 nb_sm.sbm_bp2_f0 = 0;
-                nb_sm_before_bp.norm_bp1_f0 = parameter_dump_packet.sy_lfr_n_bp_p0 * 96;
+                nb_sm_before_f0.norm_bp1_f0 = parameter_dump_packet.sy_lfr_n_bp_p0 * 96;
-                nb_sm_before_bp.norm_bp2_f0 = parameter_dump_packet.sy_lfr_n_bp_p1 * 96;
+                nb_sm_before_f0.norm_bp2_f0 = parameter_dump_packet.sy_lfr_n_bp_p1 * 96;
-                nb_sm_before_bp.norm_asm_f0 = (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1]) * 96;
+                nb_sm_before_f0.norm_asm_f0 = (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1]) * 96;
-                nb_sm_before_bp.sbm1_bp1_f0 =  parameter_dump_packet.sy_lfr_s1_bp_p0 * 24;
+                nb_sm_before_f0.sbm1_bp1_f0 =  parameter_dump_packet.sy_lfr_s1_bp_p0 * 24;
-                nb_sm_before_bp.sbm1_bp2_f0 =  parameter_dump_packet.sy_lfr_s1_bp_p1 * 96;
+                nb_sm_before_f0.sbm1_bp2_f0 =  parameter_dump_packet.sy_lfr_s1_bp_p1 * 96;
-                nb_sm_before_bp.sbm2_bp1_f0 =  parameter_dump_packet.sy_lfr_s2_bp_p0 * 96;
+                nb_sm_before_f0.sbm2_bp1_f0 =  parameter_dump_packet.sy_lfr_s2_bp_p0 * 96;
-                nb_sm_before_bp.sbm2_bp2_f0 =  parameter_dump_packet.sy_lfr_s2_bp_p1 * 96;
+                nb_sm_before_f0.sbm2_bp2_f0 =  parameter_dump_packet.sy_lfr_s2_bp_p1 * 96;
-                nb_sm_before_bp.burst_bp1_f0 =  parameter_dump_packet.sy_lfr_b_bp_p0 * 96;
+                nb_sm_before_f0.burst_bp1_f0 =  parameter_dump_packet.sy_lfr_b_bp_p0 * 96;
-                nb_sm_before_bp.burst_bp2_f0 =  parameter_dump_packet.sy_lfr_b_bp_p1 * 96;
+                nb_sm_before_f0.burst_bp2_f0 =  parameter_dump_packet.sy_lfr_b_bp_p1 * 96;
                 if (lfrMode == LFR_MODE_SBM1)
                 {
-                    nb_sm_before_bp.burst_sbm_bp1_f0 =  nb_sm_before_bp.sbm1_bp1_f0;
+                    nb_sm_before_f0.burst_sbm_bp1_f0 =  nb_sm_before_f0.sbm1_bp1_f0;
-                    nb_sm_before_bp.burst_sbm_bp2_f0 =  nb_sm_before_bp.sbm1_bp2_f0;
+                    nb_sm_before_f0.burst_sbm_bp2_f0 =  nb_sm_before_f0.sbm1_bp2_f0;
                 }
                 else if (lfrMode == LFR_MODE_SBM2)
                 {
-                    nb_sm_before_bp.burst_sbm_bp1_f0 =  nb_sm_before_bp.sbm2_bp1_f0;
+                    nb_sm_before_f0.burst_sbm_bp1_f0 =  nb_sm_before_f0.sbm2_bp1_f0;
-                    nb_sm_before_bp.burst_sbm_bp2_f0 =  nb_sm_before_bp.sbm2_bp2_f0;
+                    nb_sm_before_f0.burst_sbm_bp2_f0 =  nb_sm_before_f0.sbm2_bp2_f0;
+                }
+                else if (lfrMode == LFR_MODE_BURST)
+                {
+                    nb_sm_before_f0.burst_sbm_bp1_f0 =  nb_sm_before_f0.burst_bp1_f0;
+                    nb_sm_before_f0.burst_sbm_bp2_f0 =  nb_sm_before_f0.burst_bp2_f0;
+                }
+                else
+                {
+                    nb_sm_before_f0.burst_sbm_bp1_f0 =  nb_sm_before_f0.burst_bp1_f0;
+                    nb_sm_before_f0.burst_sbm_bp2_f0 =  nb_sm_before_f0.burst_bp2_f0;
+                }
+            }
+            void reset_nb_sm_f1( unsigned char lfrMode )
+            {
+                nb_sm.f1 = 0;
+                nb_sm.norm_bp1_f1 = 0;
+                nb_sm.norm_bp2_f1 = 0;
+                nb_sm.norm_asm_f1 = 0;
+                nb_sm.sbm_bp1_f1 = 0;
+                nb_sm.sbm_bp2_f1 = 0;
+                nb_sm_before_f1.norm_bp1_f1 = parameter_dump_packet.sy_lfr_n_bp_p0 * 16;
+                nb_sm_before_f1.norm_bp2_f1 = parameter_dump_packet.sy_lfr_n_bp_p1 * 16;
+                nb_sm_before_f1.norm_asm_f1 = (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1]) * 16;
+                nb_sm_before_f1.sbm2_bp1_f1 =  parameter_dump_packet.sy_lfr_s2_bp_p0 * 16;
+                nb_sm_before_f1.sbm2_bp2_f1 =  parameter_dump_packet.sy_lfr_s2_bp_p1 * 16;
+                nb_sm_before_f1.burst_bp1_f1 =  parameter_dump_packet.sy_lfr_b_bp_p0 * 16;
+                nb_sm_before_f1.burst_bp2_f1 =  parameter_dump_packet.sy_lfr_b_bp_p1 * 16;
+                if (lfrMode == LFR_MODE_SBM2)
+                {
+                    nb_sm_before_f1.burst_sbm_bp1_f1 =  nb_sm_before_f1.sbm2_bp1_f1;
+                    nb_sm_before_f1.burst_sbm_bp2_f1 =  nb_sm_before_f1.sbm2_bp2_f1;
                 }
                 else if (lfrMode == LFR_MODE_BURST)
                 {
-                    nb_sm_before_bp.burst_sbm_bp1_f0 =  nb_sm_before_bp.burst_bp1_f0;
+                    nb_sm_before_f1.burst_sbm_bp1_f1 =  nb_sm_before_f1.burst_bp1_f1;
-                    nb_sm_before_bp.burst_sbm_bp2_f0 =  nb_sm_before_bp.burst_bp2_f0;
+                    nb_sm_before_f1.burst_sbm_bp2_f1 =  nb_sm_before_f1.burst_bp2_f1;
                 }
                 else
                 {
-                    nb_sm_before_bp.burst_sbm_bp1_f0 =  nb_sm_before_bp.burst_bp1_f0;
+                    nb_sm_before_f1.burst_sbm_bp1_f1 =  nb_sm_before_f1.burst_bp1_f1;
-                    nb_sm_before_bp.burst_sbm_bp2_f0 =  nb_sm_before_bp.burst_bp2_f0;
+                    nb_sm_before_f1.burst_sbm_bp2_f1 =  nb_sm_before_f1.burst_bp2_f1;
+                }
+            }
+            void reset_nb_sm_f2( unsigned char lfrMode )
+            {
+                nb_sm.f2 = 0;
+                nb_sm.norm_bp1_f2 = 0;
+                nb_sm.norm_bp2_f2 = 0;
+                nb_sm.norm_asm_f2 = 0;
+                nb_sm.sbm_bp1_f2 = 0;
+                nb_sm.sbm_bp2_f2 = 0;
+                nb_sm_before_f2.norm_bp1_f2  = parameter_dump_packet.sy_lfr_n_bp_p0;
+                nb_sm_before_f2.norm_bp2_f2  = parameter_dump_packet.sy_lfr_n_bp_p1;
+                nb_sm_before_f2.norm_asm_f2  = parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1];
+                nb_sm_before_f2.sbm2_bp1_f2  =  parameter_dump_packet.sy_lfr_s2_bp_p0;
+                nb_sm_before_f2.sbm2_bp2_f2  =  parameter_dump_packet.sy_lfr_s2_bp_p1;
+                nb_sm_before_f2.burst_bp1_f2 =  parameter_dump_packet.sy_lfr_b_bp_p0;
+                nb_sm_before_f2.burst_bp2_f2 =  parameter_dump_packet.sy_lfr_b_bp_p1;
+                if (lfrMode == LFR_MODE_SBM2)
+                {
+                    nb_sm_before_f2.burst_sbm_bp1_f2 =  nb_sm_before_f2.sbm2_bp1_f2;
+                    nb_sm_before_f2.burst_sbm_bp2_f2 =  nb_sm_before_f2.sbm2_bp2_f2;
+                }
+                else if (lfrMode == LFR_MODE_BURST)
+                {
+                    nb_sm_before_f2.burst_sbm_bp1_f2 =  nb_sm_before_f2.burst_bp1_f2;
+                    nb_sm_before_f2.burst_sbm_bp2_f2 =  nb_sm_before_f2.burst_bp2_f2;
+                }
+                else
+                {
+                    nb_sm_before_f2.burst_sbm_bp1_f2 =  nb_sm_before_f2.burst_bp1_f2;
+                    nb_sm_before_f2.burst_sbm_bp2_f2 =  nb_sm_before_f2.burst_bp2_f2;
                 }
             }
             rtems_isr spectral_matrices_isr( rtems_vector_number vector )
             {
                 ring_node_sm *previous_ring_node_sm_f0;
             //    rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                 previous_ring_node_sm_f0 = current_ring_node_sm_f0;
                 if ( (spectral_matrix_regs->status & 0x2) == 0x02)  // check ready matrix bit f0_1
                 {
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->matrixF0_Address0 = current_ring_node_sm_f0->buffer_address;
                     spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffd;   // 1101
                     nb_sm.f0 = nb_sm.f0 + 1;
                 }
                 //************************
                 // reset status error bits
                 if ( (spectral_matrix_regs->status & 0x30) != 0x00)
                 {
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                     spectral_matrix_regs->status = spectral_matrix_regs->status & 0xffffffcf;   // 1100 1111
                 }
                 //**************************************
                 // reset ready matrix bits for f0_0, f1 and f2
                 spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffff2;       // 0010
                 if (nb_sm.f0 == NB_SM_BEFORE_AVF0)
                 {
                     ring_node_for_averaging_sm_f0 = previous_ring_node_sm_f0;
                     if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm.f0 = 0;
                 }
             }
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
             {
                 if (nb_sm.f0 == (NB_SM_BEFORE_AVF0-1) )
                 {
                     ring_node_for_averaging_sm_f0 = current_ring_node_sm_f0;
                     if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm.f0 = 0;
                 }
                 else
                 {
                     nb_sm.f0 = nb_sm.f0 + 1;
                 }
             }
             //************
             // RTEMS TASKS
             rtems_task smiq_task( rtems_task_argument argument ) // process the Spectral Matrices IRQ
             {
                 rtems_event_set event_out;
                 BOOT_PRINTF("in SMIQ *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                 }
             }
             rtems_task avf0_task( rtems_task_argument lfrRequestedMode )
             {
                 int i;
                 rtems_event_set event_out;
                 rtems_status_code status;
-                rtems_id queue_id_matr;
+                rtems_id queue_id_prc0;
                 asm_msg msgForMATR;
                 ring_node_sm *ring_node_tab[8];
                 reset_nb_sm_f0( lfrRequestedMode );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 BOOT_PRINTF1("in AVFO *** lfrRequestedMode = %d\n", lfrRequestedMode)
-                status = get_message_queue_id_matr( &queue_id_matr );
+                status = get_message_queue_id_prc0( &queue_id_prc0 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
-                    PRINTF1("in MATR *** ERR get_message_queue_id_matr %d\n", status)
+                    PRINTF1("in MATR *** ERR get_message_queue_id_prc0 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     ring_node_tab[NB_SM_BEFORE_AVF0-1] = ring_node_for_averaging_sm_f0;
                     for ( i = 2; i < (NB_SM_BEFORE_AVF0+1); i++ )
                     {
                         ring_node_for_averaging_sm_f0 = ring_node_for_averaging_sm_f0->previous;
                         ring_node_tab[NB_SM_BEFORE_AVF0-i] = ring_node_for_averaging_sm_f0;
                     }
                     // compute the average and store it in the averaged_sm_f1 buffer
                     SM_average( current_ring_node_asm_norm_f0->matrix,
                                 current_ring_node_asm_burst_sbm_f0->matrix,
                                 ring_node_tab,
                                 nb_sm.norm_bp1_f0, nb_sm.sbm_bp1_f0 );
                     // update nb_average
                     nb_sm.norm_bp1_f0 = nb_sm.norm_bp1_f0 + NB_SM_BEFORE_AVF0;
                     nb_sm.norm_bp2_f0 = nb_sm.norm_bp2_f0 + NB_SM_BEFORE_AVF0;
                     nb_sm.norm_asm_f0 = nb_sm.norm_asm_f0 + NB_SM_BEFORE_AVF0;
                     nb_sm.sbm_bp1_f0 = nb_sm.sbm_bp1_f0   + NB_SM_BEFORE_AVF0;
                     nb_sm.sbm_bp2_f0 = nb_sm.sbm_bp2_f0   + NB_SM_BEFORE_AVF0;
                     //****************************************
                     // initialize the mesage for the MATR task
-                    msgForMATR.event       = 0x00;  // this composite event will be sent to the MATR task
+                    msgForMATR.event      = 0x00;  // this composite event will be sent to the MATR task
-                    msgForMATR.burst_sbmf0 = current_ring_node_asm_burst_sbm_f0;
+                    msgForMATR.burst_sbm  = current_ring_node_asm_burst_sbm_f0;
-                    msgForMATR.norm_f0     = current_ring_node_asm_norm_f0;
+                    msgForMATR.norm       = current_ring_node_asm_norm_f0;
-                    msgForMATR.coarseTime  = ( (unsigned int *) (ring_node_tab[0]->buffer_address) )[0];
+                    msgForMATR.coarseTime = ( (unsigned int *) (ring_node_tab[0]->buffer_address) )[0];
-                    msgForMATR.fineTime    = ( (unsigned int *) (ring_node_tab[0]->buffer_address) )[1];
+                    msgForMATR.fineTime   = ( (unsigned int *) (ring_node_tab[0]->buffer_address) )[1];
-                    if (nb_sm.sbm_bp1_f0 == nb_sm_before_bp.burst_sbm_bp1_f0)
+                    if (nb_sm.sbm_bp1_f0 == nb_sm_before_f0.burst_sbm_bp1_f0)
                     {
                         nb_sm.sbm_bp1_f0 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_burst_sbm_f0 = current_ring_node_asm_burst_sbm_f0->next;
                         if ( (lfrCurrentMode == LFR_MODE_BURST)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_SBM_BP1_F0;
                         }
                     }
-                    if (nb_sm.sbm_bp2_f0 == nb_sm_before_bp.burst_sbm_bp2_f0)
+                    if (nb_sm.sbm_bp2_f0 == nb_sm_before_f0.burst_sbm_bp2_f0)
                     {
                         nb_sm.sbm_bp2_f0 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_BURST)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_SBM_BP2_F0;
                         }
                     }
-                    if (nb_sm.norm_bp1_f0 == nb_sm_before_bp.norm_bp1_f0)
+                    if (nb_sm.norm_bp1_f0 == nb_sm_before_f0.norm_bp1_f0)
                     {
                         nb_sm.norm_bp1_f0 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f0 = current_ring_node_asm_norm_f0->next;
-                        if (lfrCurrentMode == LFR_MODE_NORMAL)
+                        if ( (lfrCurrentMode == LFR_MODE_NORMAL)
+                             || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP1_F0;
                         }
                     }
-                    if (nb_sm.norm_bp2_f0 == nb_sm_before_bp.norm_bp2_f0)
+                    if (nb_sm.norm_bp2_f0 == nb_sm_before_f0.norm_bp2_f0)
                     {
                         nb_sm.norm_bp2_f0 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP2_F0;
                         }
                     }
-                    if (nb_sm.norm_asm_f0 == nb_sm_before_bp.norm_asm_f0)
+                    if (nb_sm.norm_asm_f0 == nb_sm_before_f0.norm_asm_f0)
                     {
                         nb_sm.norm_asm_f0 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
             //                PRINTF1("%lld\n", localTime)
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_ASM_F0;
                         }
                     }
                     //*************************
                     // send the message to MATR
                     if (msgForMATR.event != 0x00)
                     {
-                        status =  rtems_message_queue_send( queue_id_matr, (char *) & msgForMATR, MSG_QUEUE_SIZE_MATR);
+                        status =  rtems_message_queue_send( queue_id_prc0, (char *) & msgForMATR, MSG_QUEUE_SIZE_PRC0);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in AVF0 *** Error sending message to MATR, code %d\n", status);
                     }
                 }
             }
-            rtems_task matr_task( rtems_task_argument lfrRequestedMode )
+            rtems_task prc0_task( rtems_task_argument lfrRequestedMode )
             {
-                char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
+            //    char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
-                size_t size;                            // size of the incoming TC packet
+            //    size_t size;                            // size of the incoming TC packet
-                asm_msg *incomingMsg;
+            //    asm_msg *incomingMsg;
-                //
+            //    //
-                spw_ioctl_pkt_send spw_ioctl_send_ASM;
+            //    spw_ioctl_pkt_send spw_ioctl_send_ASM;
-                rtems_status_code status;
+            //    rtems_status_code status;
-                rtems_id queue_id;
+            //    rtems_id queue_id;
-                rtems_id queue_id_matr;
+            //    rtems_id queue_id_matr;
-                Header_TM_LFR_SCIENCE_ASM_t headerASM;
+            //    Header_TM_LFR_SCIENCE_ASM_t headerASM;
-                bp_packet_with_spare current_node_norm_bp1_f0;
+            //    bp_packet_with_spare current_node_norm_bp1_f0;
-                bp_packet            current_node_norm_bp2_f0;
+            //    bp_packet            current_node_norm_bp2_f0;
-                bp_packet            current_node_sbm_bp1_f0;
+            //    bp_packet            current_node_sbm_bp1_f0;
-                bp_packet            current_node_sbm_bp2_f0;
+            //    bp_packet            current_node_sbm_bp2_f0;
+            //    unsigned long long int localTime;
+            //    ASM_init_header( &headerASM );
+            //    //*************
+            //    // NORM headers
+            //    BP_init_header_with_spare( &current_node_norm_bp1_f0.header,
+            //                               APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F0,
+            //                               PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0, NB_BINS_COMPRESSED_SM_F0 );
+            //    BP_init_header( &current_node_norm_bp2_f0.header,
+            //                    APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F0,
+            //                    PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0, NB_BINS_COMPRESSED_SM_F0);
-                unsigned long long int localTime;
+            //    //****************************
+            //    // BURST SBM1 and SBM2 headers
-                ASM_init_header( &headerASM );
+            //    if ( (lfrRequestedMode == LFR_MODE_BURST)
+            //         || (lfrRequestedMode == LFR_MODE_NORMAL) || (lfrRequestedMode == LFR_MODE_STANDBY) )
+            //    {
+            //        BP_init_header( &current_node_sbm_bp1_f0.header,
+            //                        APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP1_F0,
+            //                        PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //        BP_init_header( &current_node_sbm_bp2_f0.header,
+            //                        APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP2_F0,
+            //                        PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //    }
+            //    else if ( lfrRequestedMode == LFR_MODE_SBM1 )
+            //    {
+            //        BP_init_header( &current_node_sbm_bp1_f0.header,
+            //                        APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP1_F0,
+            //                        PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //        BP_init_header( &current_node_sbm_bp2_f0.header,
+            //                        APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP2_F0,
+            //                        PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //    }
+            //    else if ( lfrRequestedMode == LFR_MODE_SBM2 )
+            //    {
+            //        BP_init_header( &current_node_sbm_bp1_f0.header,
+            //                        APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP1_F0,
+            //                        PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //        BP_init_header( &current_node_sbm_bp2_f0.header,
+            //                        APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP2_F0,
+            //                        PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //    }
+            //    else
+            //    {
+            //        PRINTF1("ERR *** in MATR *** unexpected lfrRequestedMode passed as argument = %d\n", (unsigned int) lfrRequestedMode)
+            //    }
-                //*************
+            //    status =  get_message_queue_id_send( &queue_id );
-                // NORM headers
+            //    if (status != RTEMS_SUCCESSFUL)
-                BP_init_header_with_spare( &current_node_norm_bp1_f0.header,
+            //    {
-                                           APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F0,
+            //        PRINTF1("in MATR *** ERR get_message_queue_id_send %d\n", status)
-                                           PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0, NB_BINS_COMPRESSED_SM_F0 );
+            //    }
-                BP_init_header( &current_node_norm_bp2_f0.header,
+            //    status = get_message_queue_id_prc0( &queue_id_matr);
-                                APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F0,
+            //    if (status != RTEMS_SUCCESSFUL)
-                                PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0, NB_BINS_COMPRESSED_SM_F0);
+            //    {
+            //        PRINTF1("in MATR *** ERR get_message_queue_id_prc0 %d\n", status)
+            //    }
+            //    BOOT_PRINTF1("in PRC0 *** lfrRequestedMode = %d\n", lfrRequestedMode)
+            //    while(1){
+            //        status = rtems_message_queue_receive( queue_id_matr, incomingData, &size,   //************************************
+            //                                             RTEMS_WAIT, RTEMS_NO_TIMEOUT );        // wait for a message coming from AVF0
+            //        incomingMsg = (asm_msg*) incomingData;
-                //****************************
+            //        localTime = getTimeAsUnsignedLongLongInt( );
-                // BURST SBM1 and SBM2 headers
+            //        //****************
-                if ( (lfrRequestedMode == LFR_MODE_BURST)
+            //        //****************
-                     || (lfrRequestedMode == LFR_MODE_NORMAL) || (lfrRequestedMode == LFR_MODE_STANDBY) )
+            //        // BURST SBM1 SBM2
+            //        //****************
-                    BP_init_header( &current_node_sbm_bp1_f0.header,
+            //        //****************
-                                    APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP1_F0,
+            //        if (incomingMsg->event & RTEMS_EVENT_BURST_SBM_BP1_F0 )
-                                    PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //        {
-                    BP_init_header( &current_node_sbm_bp2_f0.header,
+            //            // 1)  compress the matrix for Basic Parameters calculation
-                                    APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP2_F0,
+            //            ASM_compress_reorganize_and_divide( incomingMsg->burst_sbm->matrix, compressed_sm_sbm,
-                                    PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
+            //                                         nb_sm_before_f0.burst_sbm_bp1_f0,
+            //                                         NB_BINS_COMPRESSED_SM_SBM_F0, NB_BINS_TO_AVERAGE_ASM_SBM_F0,
-                else if ( lfrRequestedMode == LFR_MODE_SBM1 )
+            //                                         ASM_F0_INDICE_START);
+            //            // 2) compute the BP1 set
+            //            // 3) send the BP1 set
+            //            set_time( current_node_sbm_bp1_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
+            //            set_time( current_node_sbm_bp1_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
+            //            BP_send( (char *) &current_node_sbm_bp1_f0.header, queue_id,
+            //                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0 + PACKET_LENGTH_DELTA);
+            //            // 4) compute the BP2 set if needed
+            //            if ( incomingMsg->event & RTEMS_EVENT_BURST_SBM_BP2_F0 )
+            //            {
+            //                // 1) compute the BP2 set
+            //                // 2) send the BP2 set
+            //                set_time( current_node_sbm_bp2_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
+            //                set_time( current_node_sbm_bp2_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
+            //                BP_send( (char *) &current_node_sbm_bp2_f0.header, queue_id,
+            //                          PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0 + PACKET_LENGTH_DELTA);
+            //            }
+            //        }
+            //        //*****
+            //        //*****
+            //        // NORM
+            //        //*****
+            //        //*****
+            //        if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F0)
+            //        {
+            //            // 1)  compress the matrix for Basic Parameters calculation
+            //            ASM_compress_reorganize_and_divide( incomingMsg->norm->matrix, compressed_sm_norm_f0,
+            //                                         nb_sm_before_f0.norm_bp1_f0,
+            //                                         NB_BINS_COMPRESSED_SM_F0, NB_BINS_TO_AVERAGE_ASM_F0,
+            //                                         ASM_F0_INDICE_START );
+            //            // 2) compute the BP1 set
+            //            // 3) send the BP1 set
+            //            set_time( current_node_norm_bp1_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
+            //            set_time( current_node_norm_bp1_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
+            //            BP_send( (char *) &current_node_norm_bp1_f0.header, queue_id,
+            //                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0 + PACKET_LENGTH_DELTA);
+            //            if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F0)
+            //            {
+            //                // 1) compute the BP2 set
+            //                // 2) send the BP2 set
+            //                set_time( current_node_norm_bp2_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
+            //                set_time( current_node_norm_bp2_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
+            //                BP_send( (char *) &current_node_norm_bp2_f0.header, queue_id,
+            //                          PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0 + PACKET_LENGTH_DELTA);
+            //            }
+            //        }
+            //        if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F0)
+            //        {
+            //            // 1) reorganize the ASM and divide
+            //            ASM_reorganize_and_divide( incomingMsg->norm->matrix, asm_f0_reorganized, NB_SM_BEFORE_NORM_BP1_F0 );
+            //            // 2) convert the float array in a char array
+            //            ASM_convert( asm_f0_reorganized, asm_f0_char);
+            //            // 3) send the spectral matrix packets
+            //            set_time( headerASM.time           , (unsigned char *) &incomingMsg->coarseTime );
+            //            set_time( headerASM.acquisitionTime, (unsigned char *) &incomingMsg->coarseTime );
+            //            ASM_send( &headerASM, asm_f0_char, SID_NORM_ASM_F0, &spw_ioctl_send_ASM, queue_id);
+            //        }
+            //    }
+            }
+            rtems_task avf1_task( rtems_task_argument lfrRequestedMode )
+            {
+                int i;
+                rtems_event_set event_out;
+                rtems_status_code status;
+                rtems_id queue_id_prc1;
+                asm_msg msgForMATR;
+                ring_node_sm *ring_node_tab[8];
+                reset_nb_sm_f1( lfrRequestedMode );   // reset the sm counters that drive the BP and ASM computations / transmissions
+                BOOT_PRINTF1("in AVF1 *** lfrRequestedMode = %d\n", lfrRequestedMode)
+                status = get_message_queue_id_prc1( &queue_id_prc1 );
+                if (status != RTEMS_SUCCESSFUL)
                 {
-                    BP_init_header( &current_node_sbm_bp1_f0.header,
+                    PRINTF1("in MATR *** ERR get_message_queue_id_prc0 %d\n", status)
-                                    APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP1_F0,
-                                    PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
-                    BP_init_header( &current_node_sbm_bp2_f0.header,
-                                    APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP2_F0,
-                                    PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
-                else if ( lfrRequestedMode == LFR_MODE_SBM2 )
-                    BP_init_header( &current_node_sbm_bp1_f0.header,
-                                    APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP1_F0,
-                                    PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
-                    BP_init_header( &current_node_sbm_bp2_f0.header,
-                                    APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP2_F0,
-                                    PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
-                else
-                    PRINTF1("ERR *** in MATR *** unexpected lfrRequestedMode passed as argument = %d\n", (unsigned int) lfrRequestedMode)
                 }
-                status =  get_message_queue_id_send( &queue_id );
+                while(1){
-                if (status != RTEMS_SUCCESSFUL)
+                    rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
+                    ring_node_tab[NB_SM_BEFORE_AVF1-1] = ring_node_for_averaging_sm_f1;
-                    PRINTF1("in MATR *** ERR get_message_queue_id_send %d\n", status)
+                    for ( i = 2; i < (NB_SM_BEFORE_AVF1+1); i++ )
+                    {
-                status = get_message_queue_id_matr( &queue_id_matr);
+                        ring_node_for_averaging_sm_f0 = ring_node_for_averaging_sm_f0->previous;
-                if (status != RTEMS_SUCCESSFUL)
+                        ring_node_tab[NB_SM_BEFORE_AVF1-i] = ring_node_for_averaging_sm_f0;
+                    }
-                    PRINTF1("in MATR *** ERR get_message_queue_id_matr %d\n", status)
-                BOOT_PRINTF1("in MATR *** lfrRequestedMode = %d\n", lfrRequestedMode)
+                    // compute the average and store it in the averaged_sm_f1 buffer
+                    SM_average( current_ring_node_asm_norm_f1->matrix,
-                while(1){
+                                current_ring_node_asm_burst_sbm_f1->matrix,
-                    status = rtems_message_queue_receive( queue_id_matr, incomingData, &size,   //************************************
+                                ring_node_tab,
-                                                         RTEMS_WAIT, RTEMS_NO_TIMEOUT );        // wait for a message coming from AVF0
+                                nb_sm.norm_bp1_f1, nb_sm.sbm_bp1_f1 );
-                    incomingMsg = (asm_msg*) incomingData;
-                    localTime = getTimeAsUnsignedLongLongInt( );
+                    // update nb_average
-                    //****************
+                    nb_sm.norm_bp1_f1 = nb_sm.norm_bp1_f1 + NB_SM_BEFORE_AVF1;
-                    //****************
+                    nb_sm.norm_bp2_f1 = nb_sm.norm_bp2_f1 + NB_SM_BEFORE_AVF1;
-                    // BURST SBM1 SBM2
+                    nb_sm.norm_asm_f1 = nb_sm.norm_asm_f1 + NB_SM_BEFORE_AVF1;
-                    //****************
+                    nb_sm.sbm_bp1_f1 = nb_sm.sbm_bp1_f1   + NB_SM_BEFORE_AVF1;
-                    //****************
+                    nb_sm.sbm_bp2_f1 = nb_sm.sbm_bp2_f1   + NB_SM_BEFORE_AVF1;
-                    if (incomingMsg->event & RTEMS_EVENT_BURST_SBM_BP1_F0 )
-                        // 1)  compress the matrix for Basic Parameters calculation
-                        ASM_compress_reorganize_and_divide( incomingMsg->burst_sbmf0->matrix, compressed_sm_sbm,
-                                                     nb_sm_before_bp.burst_sbm_bp1_f0,
-                                                     NB_BINS_COMPRESSED_SM_SBM_F0, NB_BINS_TO_AVERAGE_ASM_SBM_F0,
-                                                     ASM_F0_INDICE_START);
-                        // 2) compute the BP1 set
-                        // 3) send the BP1 set
+                    //****************************************
-                        set_time( current_node_sbm_bp1_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
+                    // initialize the mesage for the MATR task
-                        set_time( current_node_sbm_bp1_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
+                    msgForMATR.event      = 0x00;  // this composite event will be sent to the MATR task
-                        BP_send( (char *) &current_node_sbm_bp1_f0.header, queue_id,
+                    msgForMATR.burst_sbm  = current_ring_node_asm_burst_sbm_f1;
-                                  PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0 + PACKET_LENGTH_DELTA);
+                    msgForMATR.norm       = current_ring_node_asm_norm_f1;
-                        // 4) compute the BP2 set if needed
+                    msgForMATR.coarseTime = ( (unsigned int *) (ring_node_tab[0]->buffer_address) )[0];
-                        if ( incomingMsg->event & RTEMS_EVENT_BURST_SBM_BP2_F0 )
+                    msgForMATR.fineTime   = ( (unsigned int *) (ring_node_tab[0]->buffer_address) )[1];
+                    if (nb_sm.sbm_bp1_f1 == nb_sm_before_f1.burst_sbm_bp1_f1)
+                    {
+                        nb_sm.sbm_bp1_f0 = 0;
+                        // set another ring for the ASM storage
+                        current_ring_node_asm_burst_sbm_f0 = current_ring_node_asm_burst_sbm_f0->next;
+                        if ( (lfrCurrentMode == LFR_MODE_BURST) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
-                            // 1) compute the BP2 set
+                            msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_SBM_BP1_F1;
-                            // 2) send the BP2 set
-                            set_time( current_node_sbm_bp2_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
-                            set_time( current_node_sbm_bp2_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
-                            BP_send( (char *) &current_node_sbm_bp2_f0.header, queue_id,
-                                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0 + PACKET_LENGTH_DELTA);
                         }
                     }
-                    //*****
+                    if (nb_sm.sbm_bp2_f1 == nb_sm_before_f1.burst_sbm_bp2_f1)
-                    //*****
-                    // NORM
-                    //*****
-                    //*****
-                    if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F0)
                     {
-                        // 1)  compress the matrix for Basic Parameters calculation
+                        nb_sm.sbm_bp2_f0 = 0;
-                        ASM_compress_reorganize_and_divide( incomingMsg->norm_f0->matrix, compressed_sm_norm_f0,
+                        if ( (lfrCurrentMode == LFR_MODE_BURST) || (lfrCurrentMode == LFR_MODE_SBM2) )
-                                                     nb_sm_before_bp.norm_bp1_f0,
-                                                     NB_BINS_COMPRESSED_SM_F0, NB_BINS_TO_AVERAGE_ASM_F0,
+                            msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_SBM_BP2_F1;
-                                                     ASM_F0_INDICE_START );
-                        // 2) compute the BP1 set
-                        // 3) send the BP1 set
+                    if (nb_sm.norm_bp1_f1 == nb_sm_before_f1.norm_bp1_f1)
-                        set_time( current_node_norm_bp1_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
-                        set_time( current_node_norm_bp1_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
+                        nb_sm.norm_bp1_f0 = 0;
-                        BP_send( (char *) &current_node_norm_bp1_f0.header, queue_id,
+                        // set another ring for the ASM storage
-                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0 + PACKET_LENGTH_DELTA);
+                        current_ring_node_asm_norm_f0 = current_ring_node_asm_norm_f0->next;
-                        if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F0)
+                        if ( (lfrCurrentMode == LFR_MODE_NORMAL)
+                             || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
-                            // 1) compute the BP2 set
+                            msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP1_F0;
-                            // 2) send the BP2 set
-                            set_time( current_node_norm_bp2_f0.header.time,            (unsigned char *) &incomingMsg->coarseTime );
-                            set_time( current_node_norm_bp2_f0.header.acquisitionTime, (unsigned char *) &incomingMsg->fineTime   );
-                            BP_send( (char *) &current_node_norm_bp2_f0.header, queue_id,
-                                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0 + PACKET_LENGTH_DELTA);
                         }
                     }
-                    if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F0)
+                    if (nb_sm.norm_bp2_f1 == nb_sm_before_f1.norm_bp2_f1)
                     {
-                        // 1) reorganize the ASM and divide
+                        nb_sm.norm_bp2_f0 = 0;
-                        ASM_reorganize_and_divide( incomingMsg->norm_f0->matrix, asm_f0_reorganized, NB_SM_BEFORE_NORM_BP1_F0 );
+                        if ( (lfrCurrentMode == LFR_MODE_NORMAL)
-                        // 2) convert the float array in a char array
+                             || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
-                        ASM_convert( asm_f0_reorganized, asm_f0_char);
-                        // 3) send the spectral matrix packets
+                            msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP2_F1;
-                        set_time( headerASM.time           , (unsigned char *) &incomingMsg->coarseTime );
-                        set_time( headerASM.acquisitionTime, (unsigned char *) &incomingMsg->coarseTime );
-                        ASM_send( &headerASM, asm_f0_char, SID_NORM_ASM_F0, &spw_ioctl_send_ASM, queue_id);
                     }
+                    if (nb_sm.norm_asm_f1 == nb_sm_before_f1.norm_asm_f1)
+                    {
+                        nb_sm.norm_asm_f0 = 0;
+                        if ( (lfrCurrentMode == LFR_MODE_NORMAL)
+                             || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
+                        {
+                            msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_ASM_F1;
+                        }
+                    }
+                    //*************************
+                    // send the message to MATR
+                    if (msgForMATR.event != 0x00)
+                    {
+                        status =  rtems_message_queue_send( queue_id_prc1, (char *) & msgForMATR, MSG_QUEUE_SIZE_PRC1);
+                    }
+                    if (status != RTEMS_SUCCESSFUL) {
+                        printf("in AVF1 *** Error sending message to PRC1, code %d\n", status);
+                    }
                 }
             }
             //******************
             // Spectral Matrices
             void SM_init_rings( void )
             {
                 unsigned char i;
                 // F0 RING
                 sm_ring_f0[0].next            = (ring_node_sm*) &sm_ring_f0[1];
                 sm_ring_f0[0].previous        = (ring_node_sm*) &sm_ring_f0[NB_RING_NODES_SM_F0-1];
                 sm_ring_f0[0].buffer_address  =
                         (int) &sm_f0[ 0 ];
                 sm_ring_f0[NB_RING_NODES_SM_F0-1].next           = (ring_node_sm*) &sm_ring_f0[0];
                 sm_ring_f0[NB_RING_NODES_SM_F0-1].previous       = (ring_node_sm*) &sm_ring_f0[NB_RING_NODES_SM_F0-2];
                 sm_ring_f0[NB_RING_NODES_SM_F0-1].buffer_address =
                         (int) &sm_f0[ (NB_RING_NODES_SM_F0-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_SM_F0-1; i++)
                 {
                     sm_ring_f0[i].next            = (ring_node_sm*) &sm_ring_f0[i+1];
                     sm_ring_f0[i].previous        = (ring_node_sm*) &sm_ring_f0[i-1];
                     sm_ring_f0[i].buffer_address  =
                             (int) &sm_f0[ i * TOTAL_SIZE_SM ];
                 }
                 // F1 RING
                 sm_ring_f1[0].next            = (ring_node_sm*) &sm_ring_f1[1];
                 sm_ring_f1[0].previous        = (ring_node_sm*) &sm_ring_f1[NB_RING_NODES_SM_F1-1];
                 sm_ring_f1[0].buffer_address  =
                         (int) &sm_f1[ 0 ];
                 sm_ring_f1[NB_RING_NODES_SM_F1-1].next           = (ring_node_sm*) &sm_ring_f1[0];
                 sm_ring_f1[NB_RING_NODES_SM_F1-1].previous       = (ring_node_sm*) &sm_ring_f1[NB_RING_NODES_SM_F1-2];
                 sm_ring_f1[NB_RING_NODES_SM_F1-1].buffer_address =
                         (int) &sm_f1[ (NB_RING_NODES_SM_F1-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_SM_F1-1; i++)
                 {
                     sm_ring_f1[i].next            = (ring_node_sm*) &sm_ring_f1[i+1];
                     sm_ring_f1[i].previous        = (ring_node_sm*) &sm_ring_f1[i-1];
                     sm_ring_f1[i].buffer_address  =
                             (int) &sm_f1[ i * TOTAL_SIZE_SM ];
                 }
                 // F2 RING
                 sm_ring_f2[0].next            = (ring_node_sm*) &sm_ring_f2[1];
                 sm_ring_f2[0].previous        = (ring_node_sm*) &sm_ring_f2[NB_RING_NODES_SM_F2-1];
                 sm_ring_f2[0].buffer_address  =
                         (int) &sm_f2[ 0 ];
                 sm_ring_f2[NB_RING_NODES_SM_F2-1].next           = (ring_node_sm*) &sm_ring_f2[0];
                 sm_ring_f2[NB_RING_NODES_SM_F2-1].previous       = (ring_node_sm*) &sm_ring_f2[NB_RING_NODES_SM_F2-2];
                 sm_ring_f2[NB_RING_NODES_SM_F2-1].buffer_address =
                         (int) &sm_f2[ (NB_RING_NODES_SM_F2-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_SM_F2-1; i++)
                 {
                     sm_ring_f2[i].next            = (ring_node_sm*) &sm_ring_f2[i+1];
                     sm_ring_f2[i].previous        = (ring_node_sm*) &sm_ring_f2[i-1];
                     sm_ring_f2[i].buffer_address  =
                             (int) &sm_f2[ i * TOTAL_SIZE_SM ];
                 }
                 DEBUG_PRINTF1("asm_ring_f0 @%x\n", (unsigned int) sm_ring_f0)
                 DEBUG_PRINTF1("asm_ring_f1 @%x\n", (unsigned int) sm_ring_f1)
                 DEBUG_PRINTF1("asm_ring_f2 @%x\n", (unsigned int) sm_ring_f2)
                 spectral_matrix_regs->matrixF0_Address0 = sm_ring_f0[0].buffer_address;
                 DEBUG_PRINTF1("spectral_matrix_regs->matrixF0_Address0 @%x\n", spectral_matrix_regs->matrixF0_Address0)
             }
             void ASM_init_rings( void )
             {
                 unsigned char i;
                 //*************
                 // BURST_SBM_F0
                 asm_ring_burst_sbm_f0[0].next            = (ring_node_asm*) &asm_ring_burst_sbm_f0[1];
                 asm_ring_burst_sbm_f0[0].previous        = (ring_node_asm*) &asm_ring_burst_sbm_f0[NB_RING_NODES_ASM_BURST_SBM_F0-1];
                 asm_ring_burst_sbm_f0[NB_RING_NODES_ASM_BURST_SBM_F0-1].next
                         = (ring_node_asm*) &asm_ring_burst_sbm_f0[0];
                 asm_ring_burst_sbm_f0[NB_RING_NODES_ASM_BURST_SBM_F0-1].previous
                         = (ring_node_asm*) &asm_ring_burst_sbm_f0[NB_RING_NODES_ASM_BURST_SBM_F0-2];
                 for(i=1; i<NB_RING_NODES_ASM_BURST_SBM_F0-1; i++)
                 {
                     asm_ring_burst_sbm_f0[i].next            = (ring_node_asm*) &asm_ring_burst_sbm_f0[i+1];
                     asm_ring_burst_sbm_f0[i].previous        = (ring_node_asm*) &asm_ring_burst_sbm_f0[i-1];
                 }
                 //*************
                 // NORM_F0
                 asm_ring_norm_f0[0].next            = (ring_node_asm*) &asm_ring_norm_f0[1];
                 asm_ring_norm_f0[0].previous        = (ring_node_asm*) &asm_ring_norm_f0[NB_RING_NODES_ASM_BURST_SBM_F0-1];
                 asm_ring_norm_f0[NB_RING_NODES_ASM_NORM_F0-1].next
                         = (ring_node_asm*) &asm_ring_norm_f0[0];
                 asm_ring_norm_f0[NB_RING_NODES_ASM_NORM_F0-1].previous
                         = (ring_node_asm*) &asm_ring_norm_f0[NB_RING_NODES_ASM_NORM_F0-2];
                 for(i=1; i<NB_RING_NODES_ASM_NORM_F0-1; i++)
                 {
                     asm_ring_norm_f0[i].next            = (ring_node_asm*) &asm_ring_norm_f0[i+1];
                     asm_ring_norm_f0[i].previous        = (ring_node_asm*) &asm_ring_norm_f0[i-1];
                 }
             }
             void SM_reset_current_ring_nodes( void )
             {
                 current_ring_node_sm_f0 = sm_ring_f0;
                 current_ring_node_sm_f1 = sm_ring_f1;
                 current_ring_node_sm_f2 = sm_ring_f2;
                 ring_node_for_averaging_sm_f0   = sm_ring_f0;
             }
             void ASM_reset_current_ring_node( void )
             {
                 current_ring_node_asm_norm_f0      = asm_ring_norm_f0;
                 current_ring_node_asm_burst_sbm_f0 = asm_ring_burst_sbm_f0;
             }
             void ASM_init_header( Header_TM_LFR_SCIENCE_ASM_t *header)
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0] = 0xc0;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2 = 0x10;
                 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 header->sid = 0x00;
                 header->biaStatusInfo = 0x00;
                 header->pa_lfr_pkt_cnt_asm = 0x00;
                 header->pa_lfr_pkt_nr_asm = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->pa_lfr_asm_blk_nr[0] = 0x00;  // BLK_NR MSB
                 header->pa_lfr_asm_blk_nr[1] = 0x00;  // BLK_NR LSB
             }
             void SM_average( float *averaged_spec_mat_f0, float *averaged_spec_mat_f1,
                               ring_node_sm *ring_node_tab[],
                               unsigned int nbAverageNormF0, unsigned int nbAverageSBM1F0 )
             {
                 float sum;
                 unsigned int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     sum = ( (int *) (ring_node_tab[0]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[1]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[2]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[3]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[4]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[5]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[6]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[7]->buffer_address) ) [ i ];
                     if ( (nbAverageNormF0 == 0) && (nbAverageSBM1F0 == 0) )
                     {
                         averaged_spec_mat_f0[ i ] = sum;
                         averaged_spec_mat_f1[ i ] = sum;
                     }
                     else if ( (nbAverageNormF0 != 0) && (nbAverageSBM1F0 != 0) )
                     {
                         averaged_spec_mat_f0[ i ] = ( averaged_spec_mat_f0[  i ] + sum );
                         averaged_spec_mat_f1[ i ] = ( averaged_spec_mat_f1[  i ] + sum );
                     }
                     else if ( (nbAverageNormF0 != 0) && (nbAverageSBM1F0 == 0) )
                     {
                         averaged_spec_mat_f0[ i ] = ( averaged_spec_mat_f0[ i ] + sum );
                         averaged_spec_mat_f1[ i ] = sum;
                     }
                     else
                     {
                         PRINTF2("ERR *** in SM_average *** unexpected parameters %d %d\n", nbAverageNormF0, nbAverageSBM1F0)
                     }
                 }
             }
             void ASM_reorganize_and_divide( float *averaged_spec_mat, float *averaged_spec_mat_reorganized, float divider )
             {
                 int frequencyBin;
                 int asmComponent;
                 unsigned int offsetAveragedSpecMatReorganized;
                 unsigned int offsetAveragedSpecMat;
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < NB_BINS_PER_SM; frequencyBin++ )
                     {
                         offsetAveragedSpecMatReorganized =
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetAveragedSpecMat            =
                                 asmComponent * NB_BINS_PER_SM
                                 + frequencyBin;
                         averaged_spec_mat_reorganized[offsetAveragedSpecMatReorganized  ] =
                                 averaged_spec_mat[ offsetAveragedSpecMat ] / divider;
                     }
                 }
             }
             void ASM_compress_reorganize_and_divide(float *averaged_spec_mat, float *compressed_spec_mat , float divider,
                                              unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage, unsigned char ASMIndexStart )
             {
                 int frequencyBin;
                 int asmComponent;
                 int offsetASM;
                 int offsetCompressed;
                 int k;
                 // build data
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < nbBinsCompressedMatrix; frequencyBin++ )
                     {
                         offsetCompressed =  // NO TIME OFFSET
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetASM =         // NO TIME OFFSET
                                 asmComponent * NB_BINS_PER_SM
                                 + ASMIndexStart
                                 + frequencyBin * nbBinsToAverage;
                         compressed_spec_mat[ offsetCompressed ] = 0;
                         for ( k = 0; k < nbBinsToAverage; k++ )
                         {
                             compressed_spec_mat[offsetCompressed ] =
                                     ( compressed_spec_mat[ offsetCompressed ]
                                     + averaged_spec_mat[ offsetASM + k ] ) / (divider * nbBinsToAverage);
                         }
                     }
                 }
             }
             void ASM_convert( volatile float *input_matrix, char *output_matrix)
             {
                 unsigned int frequencyBin;
                 unsigned int asmComponent;
                 char * pt_char_input;
                 char * pt_char_output;
                 unsigned int offsetInput;
                 unsigned int offsetOutput;
                 pt_char_input = (char*) &input_matrix;
                 pt_char_output = (char*) &output_matrix;
                 // convert all other data
                 for( frequencyBin=0; frequencyBin<NB_BINS_PER_SM; frequencyBin++)
                 {
                     for ( asmComponent=0; asmComponent<NB_VALUES_PER_SM; asmComponent++)
                     {
                         offsetInput  =       (frequencyBin*NB_VALUES_PER_SM) + asmComponent   ;
                         offsetOutput = 2 * ( (frequencyBin*NB_VALUES_PER_SM) + asmComponent ) ;
                         pt_char_input =  (char*) &input_matrix [ offsetInput  ];
                         pt_char_output = (char*) &output_matrix[ offsetOutput ];
                         pt_char_output[0] = pt_char_input[0];   // bits 31 downto 24 of the float
                         pt_char_output[1] = pt_char_input[1];   // bits 23 downto 16 of the float
                     }
                 }
             }
             void ASM_send(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send, rtems_id queue_id)
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 for (i=0; i<2; i++)
                 {
                     // (1) BUILD THE DATA
                     switch(sid)
                     {
                     case SID_NORM_ASM_F0:
                         spw_ioctl_send->dlen = TOTAL_SIZE_ASM_F0_IN_BYTES / 2;
                         spw_ioctl_send->data = &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0) ) * NB_VALUES_PER_SM ) * 2
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0);        // BLK_NR LSB
                         break;
                     case SID_NORM_ASM_F1:
                         break;
                     case SID_NORM_ASM_F2:
                         break;
                     default:
                         PRINTF1("ERR *** in ASM_send *** unexpected sid %d\n", sid)
                         break;
                     }
                     spw_ioctl_send->hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM + CCSDS_PROTOCOLE_EXTRA_BYTES;
                     spw_ioctl_send->hdr = (char *) header;
                     spw_ioctl_send->options = 0;
                     // (2) BUILD THE HEADER
                     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 = 2;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     header->time[3] = (unsigned char) (time_management_regs->coarse_time);
                     header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     header->time[5] = (unsigned char) (time_management_regs->fine_time);
                     //
                     header->acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     header->acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     header->acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     header->acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
                     header->acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     header->acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                     // (4) SEND PACKET
                     status =  rtems_message_queue_send( queue_id, spw_ioctl_send, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in ASM_send *** ERR %d\n", (int) status);
                     }
                 }
             }
             //*****************
             // Basic Parameters
             void BP_init_header( Header_TM_LFR_SCIENCE_BP_t *header,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength, unsigned char blkNr )
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (apid >> 8);
                 header->packetID[1] = (unsigned char) (apid);
                 header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = (unsigned char) (packetLength >> 8);
                 header->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2 = 0x10;
                 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 header->sid = sid;
                 header->biaStatusInfo = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->pa_lfr_bp_blk_nr[0] = 0x00;  // BLK_NR MSB
                 header->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_init_header_with_spare(Header_TM_LFR_SCIENCE_BP_with_spare_t *header,
                                             unsigned int apid, unsigned char sid,
                                             unsigned int packetLength , unsigned char blkNr)
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (apid >> 8);
                 header->packetID[1] = (unsigned char) (apid);
                 header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = (unsigned char) (packetLength >> 8);
                 header->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2 = 0x10;
                 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 header->sid = sid;
                 header->biaStatusInfo = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->pa_lfr_bp_blk_nr[0] = 0x00;  // BLK_NR MSB
                 header->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_send(char *data, rtems_id queue_id, unsigned int nbBytesToSend )
             {
                 rtems_status_code status;
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, data, nbBytesToSend);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     printf("ERR *** in BP_send *** ERR %d\n", (int) status);
                 }
             }
             //******************
             // general functions
             void reset_spectral_matrix_regs( void )
             {
                 /** This function resets the spectral matrices module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  *
                  * - 0x00 config
                  * - 0x04 status
                  * - 0x08 matrixF0_Address0
                  * - 0x10 matrixFO_Address1
                  * - 0x14 matrixF1_Address
                  * - 0x18 matrixF2_Address
                  *
                  */
                 spectral_matrix_regs->config = 0x00;
                 spectral_matrix_regs->status = 0x00;
                 spectral_matrix_regs->matrixF0_Address0 = current_ring_node_sm_f0->buffer_address;
                 spectral_matrix_regs->matrixFO_Address1 = current_ring_node_sm_f0->buffer_address;
                 spectral_matrix_regs->matrixF1_Address = current_ring_node_sm_f1->buffer_address;
                 spectral_matrix_regs->matrixF2_Address = current_ring_node_sm_f2->buffer_address;
             }
             void set_time( unsigned char *time, unsigned char * timeInBuffer )
             {
             //    time[0] = timeInBuffer[2];
             //    time[1] = timeInBuffer[3];
             //    time[2] = timeInBuffer[0];
             //    time[3] = timeInBuffer[1];
             //    time[4] = timeInBuffer[6];
             //    time[5] = timeInBuffer[7];
                 time[0] = timeInBuffer[0];
                 time[1] = timeInBuffer[1];
                 time[2] = timeInBuffer[2];
                 time[3] = timeInBuffer[3];
                 time[4] = timeInBuffer[6];
                 time[5] = timeInBuffer[7];
             }

src/tc_handler.c +1 -1

             /** 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"
             //***********
             // 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( 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_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
                  *
                  */
                 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 consistent, 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, enter the mode
                 {
                     status = check_transition_date( transitionCoarseTime );
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_transition_date\n")
                         send_tm_lfr_tc_exe_inconsistent( TC, queue_id,
                                                          BYTE_POS_CP_LFR_ENTER_MODE_TIME,
                                                          bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME + 3 ] );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the date is valid, enter the mode
                 {
                     PRINTF1("OK  *** in action_enter_mode *** enter mode %d\n", requestedMode);
                     status = enter_mode( requestedMode, transitionCoarseTime );
                 }
                 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);
                 }
                 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;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 result = LFR_DEFAULT;
                 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;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 result = LFR_DEFAULT;
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @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];
                 PRINTF1("time received: %x\n", time_management_regs->coarse_time_load)
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
             //    time_management_regs->ctrl = time_management_regs->ctrl | 1;    // force tick
                 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;
             }
             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;
                     if ( transitionCoarseTime <= localCoarseTime )   // SSS-CP-EQS-322
                     {
                         status = LFR_DEFAULT;
                         PRINTF2("ERR *** in check_transition_date *** transition = %x, local = %x\n", transitionCoarseTime, localCoarseTime)
                     }
                     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 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) clear interruptions
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // (3) reset waveform picker registers
                 reset_wfp_burst_enable();                       // reset burst and enable bits
                 reset_wfp_status();                             // reset all the status bits
                 // (4) reset spectral matrices registers
                 set_irq_on_new_ready_matrix( 0 );               // stop the spectral matrices
                 set_run_matrix_spectral( 0 );                   // run_matrix_spectral is set to 0
                 reset_extractSWF();                             // reset the extractSWF flag to false
                 // <Spectral Matrices simulator>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );                  // mask spectral matrix interrupt simulator
                 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );                 // clear spectral matrix interrupt simulator
                 // </Spectral Matrices simulator>
                 // 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( unsigned char mode, unsigned int transitionCoarseTime )
             {
                 /** This function is launched after a mode transition validation.
                  *
                  * @param mode is the mode in which LFR will be put.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - the mode has been entered successfully
                  * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
                  *
                  */
                 rtems_status_code status;
                 //**********************
                 // STOP THE CURRENT MODE
                 status = stop_current_mode();
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode *** stop_current_mode with mode = %d\n", mode)
                 }
                 //*************************
                 // ENTER THE REQUESTED MODE
                 if ( (mode == LFR_MODE_NORMAL) || (mode == LFR_MODE_BURST)
                      || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2) )
                 {
             #ifdef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
                     maxCount = 0;
             #endif
                     status = restart_science_tasks( mode );
                     launch_waveform_picker( mode, transitionCoarseTime );
             //        launch_spectral_matrix( );
             //        launch_spectral_matrix_simu( );
                 }
                 else if ( mode == LFR_MODE_STANDBY )
                 {
             #ifdef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                     PRINTF("stack report selected\n")
                     rtems_stack_checker_report_usage();
             #endif
                     PRINTF1("maxCount = %d\n", maxCount)
                 }
                 else
                 {
                     status = RTEMS_UNSATISFIED;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode *** 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, BPF0, WFRM, CWF3, CW2, CWF1
                  *
                  */
                 rtems_status_code status[7];
                 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 *** 0 ERR %d\n", status[0])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
                 }
-                status[6] = rtems_task_restart( Task_id[TASKID_MATR], lfrRequestedMode );
+                status[6] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[6] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 6 ERR %d\n", status[6])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                      (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) ||
                      (status[5] != RTEMS_SUCCESSFUL) || (status[6] != RTEMS_SUCCESSFUL)    )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int suspend_science_tasks()
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = rtems_task_suspend( Task_id[TASKID_AVF0] );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
                 }
                 return status;
             }
             void launch_waveform_picker( unsigned char mode, unsigned int transitionCoarseTime )
             {
                 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 );
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000]
                 if (transitionCoarseTime == 0)
                 {
                     waveform_picker_regs->start_date = time_management_regs->coarse_time;
                 }
                 else
                 {
                     waveform_picker_regs->start_date = transitionCoarseTime;
                 }
             }
             void launch_spectral_matrix( void )
             {
                 SM_reset_current_ring_nodes();
                 ASM_reset_current_ring_node();
                 reset_spectral_matrix_regs();
                 struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
                 grgpio_regs->io_port_direction_register =
                         grgpio_regs->io_port_direction_register | 0x01; // [0000 0001], 0 = output disabled, 1 = output enabled
                 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xfffffffe; // set the bit 0 to 0
                 set_irq_on_new_ready_matrix( 1 );
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
                 set_run_matrix_spectral( 1 );
             }
             void launch_spectral_matrix_simu( void )
             {
                 SM_reset_current_ring_nodes();
                 ASM_reset_current_ring_node();
                 reset_spectral_matrix_regs();
                 // Spectral Matrices simulator
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
                 LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
                 set_local_nb_interrupt_f0_MAX();
             }
             void set_irq_on_new_ready_matrix( 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_run_matrix_spectral( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x4;  // [0100] set run_matrix spectral to 1
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb;  // [1011] set run_matrix spectral to 0
                 }
             }
             //****************
             // 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];
                         housekeeping_packet.lfr_status_word[0] = (unsigned char) ((requestedMode << 4) + 0x0d);
                         updateLFRCurrentMode();
                     }
                 }
                 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()
             {
                 /** This function updates the value of the global variable lfrCurrentMode.
                  *
                  * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
                  *
                  */
                 // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
                 lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
             }

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