HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r33:1280850c4074

packet emission task added...

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FSW-qt/Makefile +12 -4

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.4) on: Thu Aug 1 15:31:06 2013
+            # Generated by qmake (2.01a) (Qt 4.8.5) on: Mon Sep 30 15:28:56 2013
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
-            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=12 -DPRINT_MESSAGES_ON_CONSOLE
+            DEFINES       = -DSW_VERSION_N1=0 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=13 -DPRINT_MESSAGES_ON_CONSOLE
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_processing.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
-            		../src/fsw_globals.c
+            		../src/fsw_globals.c \
+            		../src/fsw_spacewire.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_globals.o \
+            		obj/fsw_spacewire.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
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
+            obj/fsw_spacewire.o: ../src/fsw_spacewire.c
+            	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/fsw binary modified 0 0

NO CONTENT: modified file, binary diff hidden

FSW-qt/fsw-qt.pro +6 -4

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options = verbose *** cpu_usage_report *** gsa
             CONFIG += console verbose
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
-            SWVERSION=-0-12
+            SWVERSION=-0-13
             DEFINES += SW_VERSION_N1=0
             DEFINES += SW_VERSION_N2=0
             DEFINES += SW_VERSION_N3=0
-            DEFINES += SW_VERSION_N4=12
+            DEFINES += SW_VERSION_N4=13
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             TARGET = fsw
             contains( CONFIG, gsa ) {
                 DEFINES += GSA
                 TARGET = fsw-gsa
             }
             INCLUDEPATH += \
                 ../src \
                 ../header
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_processing.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
-                ../src/fsw_globals.c
+                ../src/fsw_globals.c \
+                ../src/fsw_spacewire.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_params_processing.h \
+                ../header/fsw_spacewire.h

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

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by QtCreator 2.8.0, 2013-08-01T13:38:09. -->
+            <!-- Written by QtCreator 2.8.0, 2013-10-01T07:01:25. -->
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                 <value type="QString" key="language">QmlJS</value>
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header/TC_types.h +92 -14

             #ifndef TC_TYPES_H
             #define TC_TYPES_H
             #include <ccsds_types.h>
+            #define PROTOCOLE_IDENTIFIER 0x02
             // PACKET ID
             #define TC_LFR_PACKET_ID                0x1ccc // PID 76 CAT 12
-            #define PACKET_LENGTH_TC_LFR_LOAD_COMMON_PAR    (14 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_RESET                  (12 - CCSDS_TC_TM_PACKET_OFFSET)
-            #define PACKET_LENGTH_TC_LFR_LOAD_NORMAL_PAR    (20 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_LOAD_COMMON_PAR        (14 - CCSDS_TC_TM_PACKET_OFFSET)
-            #define PACKET_LENGTH_TC_LFR_LOAD_BURST_PAR     (14 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_LOAD_NORMAL_PAR        (20 - CCSDS_TC_TM_PACKET_OFFSET)
-            #define PACKET_LENGTH_TC_LFR_LOAD_SBM1_PAR      (14 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_LOAD_BURST_PAR         (14 - CCSDS_TC_TM_PACKET_OFFSET)
-            #define PACKET_LENGTH_TC_LFR_LOAD_SBM2_PAR      (14 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_LOAD_SBM1_PAR          (14 - CCSDS_TC_TM_PACKET_OFFSET)
-            #define PACKET_LENGTH_TC_LFR_DUMP_PAR           (12 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_LOAD_SBM2_PAR          (14 - CCSDS_TC_TM_PACKET_OFFSET)
-            #define PACKET_LENGTH_TC_LFR_ENTER_MODE         (20 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_DUMP_PAR               (12 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_ENTER_MODE             (20 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_UPDATE_INFO            (48 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_ENABLE_CALIBRATION     (12 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_DISABLE_CALIBRATION    (12 - CCSDS_TC_TM_PACKET_OFFSET)
+            #define PACKET_LENGTH_TC_LFR_UPDATE_TIME            (18 - CCSDS_TC_TM_PACKET_OFFSET)
             // TC TYPES
             #define TC_TYPE_DEFAULT         181
             #define TC_TYPE_LFR_UPDATE_TIME 9
             // TC SUBTYPES
-            #define TC_SUBTYPE_LOAD_COMMON_PAR  11
+            #define TC_SUBTYPE_RESET                1
-            #define TC_SUBTYPE_LOAD_NORMAL_PAR  13
+            #define TC_SUBTYPE_LOAD_COMMON_PAR      11
-            #define TC_SUBTYPE_LOAD_BURST_PAR   19
+            #define TC_SUBTYPE_LOAD_NORMAL_PAR      13
-            #define TC_SUBTYPE_LOAD_SBM1_PAR    25
+            #define TC_SUBTYPE_LOAD_BURST_PAR       19
-            #define TC_SUBTYPE_LOAD_SBM2_PAR    27
+            #define TC_SUBTYPE_LOAD_SBM1_PAR        25
-            #define TC_SUBTYPE_DUMP_PAR         31
+            #define TC_SUBTYPE_LOAD_SBM2_PAR        27
-            #define TC_SUBTYPE_ENTER_MODE       41
+            #define TC_SUBTYPE_DUMP_PAR             31
+            #define TC_SUBTYPE_ENTER_MODE           41
+            #define TC_SUBTYPE_UPDATE_INFO          51
+            #define TC_SUBTYPE_ENABLE_CALIBRATION   61
+            #define TC_SUBTYPE_DISABLE_CALIBRATION  63
+            #define TC_SUBTYPE_UPDATE_TIME          129
             // OTHER CONSTANTS
             #define TC_LFR_PACKET_SEQUENCE_CONTROL  0xc000 // PID 76 CAT 12
             #define TC_LFR_DATA_FIELD_HEADER0       0x19
             #define TC_LFR_LOAD_COMMON_PAR_SPARE    0x00
+            struct Packet_TC_LFR_RESET_str
+            {   // the CCSDS header is added by LPPMON
+                unsigned char packetID[2];
+                unsigned char packetSequenceControl[2];
+                unsigned char packetLength[2];
+                // DATA FIELD HEADER
+                unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
+                unsigned char serviceType;
+                unsigned char serviceSubType;
+                unsigned char sourceID;
+                unsigned char crc[2];
+            };
+            typedef struct Packet_TC_LFR_RESET_str Packet_TC_LFR_RESET_t;
             struct Packet_TC_LFR_ENTER_MODE_str
             {   // the CCSDS header is added by LPPMON
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char sourceID;
                 unsigned char spare;
                 unsigned char mode;
                 unsigned char enterModeTime[6];
                 unsigned char crc[2];
             };
             typedef struct Packet_TC_LFR_ENTER_MODE_str Packet_TC_LFR_ENTER_MODE_t;
+            struct Packet_TC_LFR_UPDATE_INFO_str
+            {   // the CCSDS header is added by LPPMON
+                unsigned char packetID[2];
+                unsigned char packetSequenceControl[2];
+                unsigned char packetLength[2];
+                // DATA FIELD HEADER
+                unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
+                unsigned char serviceType;
+                unsigned char serviceSubType;
+                unsigned char sourceID;
+                unsigned char set1;
+                unsigned char set2;
+                unsigned char set3_bias_setting_set1[6];
+                unsigned char set3_bias_setting_set2[6];
+                unsigned char set3_bias_voltage[4];
+                unsigned char set4[8];
+                unsigned char set5;
+                unsigned char set6;
+                unsigned char set7[8];
+                unsigned char crc[2];
+            };
+            typedef struct Packet_TC_LFR_UPDATE_INFO_str Packet_TC_LFR_UPDATE_INFO_t;
             struct Packet_TC_LFR_DUMP_PAR_str
             {   // the CCSDS header is added by LPPMON
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char sourceID;
                 unsigned char crc[2];
             };
             typedef struct Packet_TC_LFR_DUMP_PAR_str Packet_TC_LFR_DUMP_PAR_t;
             struct Packet_TC_LFR_LOAD_COMMON_PAR_str
             {   // the CCSDS header is added by LPPMON
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char sourceID;
                 unsigned char spare;
                 unsigned char bw_sp0_sp1_r0_r1;
                 unsigned char crc[2];
             };
             typedef struct Packet_TC_LFR_LOAD_COMMON_PAR_str Packet_TC_LFR_LOAD_COMMON_PAR_t;
             struct Packet_TC_LFR_LOAD_NORMAL_PAR_str
             {   // the CCSDS header is added by LPPMON
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char sourceID;
                 unsigned char sy_lfr_n_swf_l[2];
                 unsigned char sy_lfr_n_swf_p[2];
                 unsigned char sy_lfr_n_asm_p[2];
                 unsigned char sy_lfr_n_bp_p0;
                 unsigned char sy_lfr_n_bp_p1;
                 unsigned char crc[2];
             };
             typedef struct Packet_TC_LFR_LOAD_NORMAL_PAR_str Packet_TC_LFR_LOAD_NORMAL_PAR_t;
             struct Packet_TC_LFR_LOAD_BURST_SBM1_SBM2_PAR_str
             {   // the CCSDS header is added by LPPMON
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char sourceID;
                 unsigned char sy_lfr_bp_p0;
                 unsigned char sy_lfr_bp_p1;
                 unsigned char crc[2];
             };
             typedef struct Packet_TC_LFR_LOAD_BURST_SBM1_SBM2_PAR_str Packet_TC_LFR_LOAD_BURST_SBM1_SBM2_PAR_t;
+            struct Packet_TC_LFR_ENABLE_DISABLE_CALIBRATION_str
+            {   // the CCSDS header is added by LPPMON
+                unsigned char packetID[2];
+                unsigned char packetSequenceControl[2];
+                unsigned char packetLength[2];
+                // DATA FIELD HEADER
+                unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
+                unsigned char serviceType;
+                unsigned char serviceSubType;
+                unsigned char sourceID;
+                unsigned char crc[2];
+            };
+            typedef struct Packet_TC_LFR_ENABLE_DISABLE_CALIBRATION_str Packet_TC_LFR_ENABLE_DISABLE_CALIBRATION_t;
+            struct Packet_TC_LFR_UPDATE_TIME_str
+            {   // the CCSDS header is added by LPPMON
+                unsigned char packetID[2];
+                unsigned char packetSequenceControl[2];
+                unsigned char packetLength[2];
+                // DATA FIELD HEADER
+                unsigned char ccsdsSecHeaderFlag_pusVersion_ack;
+                unsigned char serviceType;
+                unsigned char serviceSubType;
+                unsigned char sourceID;
+                unsigned char cp_rpw_time[6];
+                unsigned char crc[2];
+            };
+            typedef struct Packet_TC_LFR_UPDATE_TIME_str Packet_TC_LFR_UPDATE_TIME_t;
             #endif // TC_TYPES_H

header/ccsds_types.h +76 -28

             #ifndef CCSDS_H_INCLUDED
             #define CCSDS_H_INCLUDED
             #define CCSDS_PROTOCOLE_EXTRA_BYTES 4
             #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
             #define CCSDS_TM_PKT_MAX_SIZE 4412
             #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
             #define CCSDS_TC_PKT_MAX_SIZE 256
             #define CCSDS_TC_PKT_MIN_SIZE 16
             #define CCSDS_TC_TM_PACKET_OFFSET 7
             #define CCSDS_PROCESS_ID 76
             #define CCSDS_PACKET_CATEGORY 12
             #define CCSDS_NODE_ADDRESS 0xfe
             #define CCSDS_USER_APP 0x00
+            #define DEFAULT_SPARE1_PUSVERSION_SPARE2 0x10
+            #define DEFAULT_RESERVED 0x00
+            #define DEFAULT_HKBIA 0x1f
             // PACKET ID
-            #define TM_PACKET_ID_TC_EXE                  0x0cc1 // PID 76 CAT 1
+            #define TM_PACKET_ID_TC_EXE                     0x0cc1 // PID 76 CAT 1
-            #define TM_PACKET_ID_HK                      0x0cc4 // PID 76 CAT 4
+            #define TM_PACKET_ID_HK                         0x0cc4 // PID 76 CAT 4
-            #define TM_PACKET_ID_PARAMETER_DUMP          0x0cc9 // PID 76 CAT 9
+            #define TM_PACKET_ID_PARAMETER_DUMP             0x0cc9 // PID 76 CAT 9
-            #define TM_PACKET_ID_SCIENCE_NORMAL          0x0ccc // PID 76 CAT 12
+            #define TM_PACKET_ID_SCIENCE_NORMAL             0x0ccc // PID 76 CAT 12
-            #define TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2 0x0cfc // PID 79 CAT 12
+            #define TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2    0x0cfc // PID 79 CAT 12
+            #define TM_PACKET_PID_DEFAULT                   76
+            #define TM_PACKET_PID_BURST_SBM1_SBM2           79
+            #define TM_PACKET_CAT_TC_EXE                    1
+            #define TM_PACKET_CAT_HK                        4
+            #define TM_PACKET_CAT_PARAMETER_DUMP            9
+            #define TM_PACKET_CAT_SCIENCE                   12
             // PACKET SEQUENCE CONTROL
-            #define TM_PACKET_SEQ_CTRL_CONTINUATION 0
+            #define TM_PACKET_SEQ_CTRL_CONTINUATION 0x00    // [0000 0000]
-            #define TM_PACKET_SEQ_CTRL_FIRST 1
+            #define TM_PACKET_SEQ_CTRL_FIRST        0x40    // [0100 0000]
-            #define TM_PACKET_SEQ_CTRL_LAST 2
+            #define TM_PACKET_SEQ_CTRL_LAST         0x80    // [1000 0000]
-            #define TM_PACKET_SEQ_CTRL_STANDALONE 3
+            #define TM_PACKET_SEQ_CTRL_STANDALONE   0xc0    // [1100 0000]
+            #define TM_PACKET_SEQ_CNT_DEFAULT       0x00    // [0000 0000]
-            //
+            // DESTINATION ID
             #define TM_DESTINATION_ID_GROUND 0
             #define TM_DESTINATION_ID_MISSION_TIMELINE 110
             #define TM_DESTINATION_ID_TC_SEQUENCES 111
             #define TM_DESTINATION_ID_RECOVERY_ACTION_COMMAND 112
             #define TM_DESTINATION_ID_BACKUP_MISSION_TIMELINE 113
             #define TM_DESTINATION_ID_DIRECT_CMD 120
             #define TM_DESTINATION_ID_SPARE_GRD_SRC1 121
             #define TM_DESTINATION_ID_SPARE_GRD_SRC2 122
             #define TM_DESTINATION_ID_OBCP 15
             #define TM_DESTINATION_ID_SYSTEM_CONTROL 14
             #define TM_DESTINATION_ID_AOCS 11
             #define CCSDS_DESTINATION_ID 0x01
             #define CCSDS_PROTOCOLE_ID 0x02
             #define CCSDS_RESERVED 0x00
             #define CCSDS_USER_APP 0x00
             #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
             #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
             #define SIZE_HK_PARAMETERS 112
-            #define ILLEGAL_APID 0
-            #define WRONG_LEN_PACKET 1
-            #define INCOR_CHECKSUM 2
-            #define ILL_TYPE 3
-            #define ILL_SUBTYPE 4
-            #define WRONG_APP_DATA 5
-            #define WRONG_CMD_CODE 6
-            #define CCSDS_TM_VALID 7
             // TC TYPES
             #define TC_TYPE_GEN 181
             #define TC_TYPE_TIME 9
             // TC SUBTYPES
             #define TC_SUBTYPE_RESET 1
             #define TC_SUBTYPE_LOAD_COMM 11
             #define TC_SUBTYPE_LOAD_NORM 13
             #define TC_SUBTYPE_LOAD_BURST 19
             #define TC_SUBTYPE_LOAD_SBM1 25
             #define TC_SUBTYPE_LOAD_SBM2 27
             #define TC_SUBTYPE_DUMP 31
             #define TC_SUBTYPE_ENTER 41
             #define TC_SUBTYPE_UPDT_INFO 51
             #define TC_SUBTYPE_EN_CAL 61
             #define TC_SUBTYPE_DIS_CAL 63
             #define TC_SUBTYPE_UPDT_TIME 129
             // TC LEN
             #define TC_LEN_RESET 12
             #define TC_LEN_LOAD_COMM 14
             #define TC_LEN_LOAD_NORM 20
             #define TC_LEN_LOAD_BURST 14
             #define TC_LEN_LOAD_SBM1 14
             #define TC_LEN_LOAD_SBM2 14
             #define TC_LEN_DUMP 12
             #define TC_LEN_ENTER 20
             #define TC_LEN_UPDT_INFO 48
             #define TC_LEN_EN_CAL 12
             #define TC_LEN_DIS_CAL 12
             #define TC_LEN_UPDT_TIME 18
             // TM TYPES
             #define TM_TYPE_TC_EXE 1
             #define TM_TYPE_HK 3
             #define TM_TYPE_PARAMETER_DUMP 3
             #define TM_TYPE_LFR_SCIENCE 21
             // TM SUBTYPES
             #define TM_SUBTYPE_EXE_OK 7
             #define TM_SUBTYPE_EXE_NOK 8
             #define TM_SUBTYPE_HK 25
             #define TM_SUBTYPE_PARAMETER_DUMP 25
             #define TM_SUBTYPE_SCIENCE 3
             #define TM_SUBTYPE_LFR_SCIENCE 3
             // FAILURE CODES
+            #define ILLEGAL_APID       0
+            #define WRONG_LEN_PACKET   1
+            #define INCOR_CHECKSUM     2
+            #define ILL_TYPE           3
+            #define ILL_SUBTYPE        4
+            #define WRONG_APP_DATA     5
+            //
+            #define WRONG_CMD_CODE 6
+            #define CCSDS_TM_VALID 7
             #define FAILURE_CODE_INCONSISTENT       5       // 0x00 0x05
             #define FAILURE_CODE_NOT_EXECUTABLE     42000   // 0xa4 0x10
             #define FAILURE_CODE_NOT_IMPLEMENTED    42002   // 0xa4 0x12
             #define FAILURE_CODE_ERROR              42003   // 0xa4 0x13
             #define FAILURE_CODE_CORRUPTED          42005   // 0xa4 0x15
             // TM SID
             #define SID_DEFAULT 0
             #define SID_EXE_INC 5
             #define SID_NOT_EXE 42000       // 0xa4 0x10
             #define SID_NOT_IMP 42002       // 0xa4 0x12
             #define SID_EXE_ERR 42003       // 0xa4 0x13
             #define SID_EXE_CORR 42005      // 0xa4 0x15
             #define SID_HK 1
             #define SID_PARAMETER_DUMP 10
             #define SID_NORM_SWF_F0 3
             #define SID_NORM_SWF_F1 4
             #define SID_NORM_SWF_F2 5
             #define SID_NORM_CWF_F3 1
             #define SID_BURST_CWF_F2 2
             #define SID_SBM1_CWF_F1 24
             #define SID_SBM2_CWF_F2 25
             #define SID_NORM_ASM_F0 11
             #define SID_NORM_ASM_F1 12
             #define SID_NORM_ASM_F2 13
             #define SID_NORM_BP1_F0 14
             #define SID_NORM_BP1_F1 15
             #define SID_NORM_BP1_F2 16
             #define SID_NORM_BP2_F0 19
             #define SID_NORM_BP2_F1 20
             #define SID_NORM_BP2_F2 21
             #define SID_BURST_BP1_F0 17
             #define SID_BURST_BP2_F0 22
             #define SID_BURST_BP1_F1 18
             #define SID_BURST_BP2_F1 23
             #define SID_SBM1_BP1_F0 28
             #define SID_SBM1_BP2_F0 31
             #define SID_SBM2_BP1_F0 29
             #define SID_SBM2_BP2_F0 32
-            #define SID_SBM1_BP1_F1 30
+            #define SID_SBM2_BP1_F1 30
-            #define SID_SBM1_BP2_F1 33
+            #define SID_SBM2_BP2_F1 33
             // LENGTH (BYTES)
             #define LENGTH_TM_LFR_TC_EXE_MAX 32
             #define LENGTH_TM_LFR_HK 126
             // HEADER_LENGTH
             #define TM_HEADER_LEN 16
             #define HEADER_LENGTH_TM_LFR_SCIENCE_ASM 28
             // PACKET_LENGTH
             #define PACKET_LENGTH_TC_EXE_SUCCESS            (20 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_INCONSISTENT       (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED    (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_ERROR              (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_CORRUPTED          (32 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_HK                        (126 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_PARAMETER_DUMP            (34 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM        (TOTAL_SIZE_SM + HEADER_LENGTH_TM_LFR_SCIENCE_ASM - CCSDS_TC_TM_PACKET_OFFSET)
             #define SPARE1_PUSVERSION_SPARE2 0x10
-            #define LEN_TM_LFR_HK 126 + 4
+            #define LEN_TM_LFR_HK               126 + 4
-            #define LEN_TM_LFR_TC_EXE_NOT_IMP 24 +4
+            #define LEN_TM_LFR_TC_EXE_NOT_IMP   24 +4
-            #define TM_LEN_SCI_SWF_340 340 * 12 + 10 + 12 - 1
+            #define TM_LEN_SCI_SWF_340  (340 * 12 + 10 + 12 - 1)
-            #define TM_LEN_SCI_SWF_8 8 * 12 + 10 + 12 - 1
+            #define TM_LEN_SCI_SWF_8      (8 * 12 + 10 + 12 - 1)
-            #define TM_LEN_SCI_CWF_340 340 * 12 + 10 + 10 - 1
+            #define TM_LEN_SCI_CWF_340  (340 * 12 + 10 + 10 - 1)
-            #define TM_LEN_SCI_CWF_8 8 * 12 + 10 + 10 - 1
+            #define TM_LEN_SCI_CWF_8      (8 * 12 + 10 + 10 - 1)
+            #define DEFAULT_PKTCNT  0x07
+            #define BLK_NR_340      0x0154
+            #define BLK_NR_8        0x0008
             enum TM_TYPE{
                 TM_LFR_TC_EXE_OK,
                 TM_LFR_TC_EXE_ERR,
                 TM_LFR_HK,
                 TM_LFR_SCI,
                 TM_LFR_SCI_SBM,
                 TM_LFR_PAR_DUMP
             };
             struct TMHeader_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
             };
             typedef struct TMHeader_str TMHeader_t;
             struct Packet_TM_LFR_TC_EXE_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char data[LENGTH_TM_LFR_TC_EXE_MAX - 10 + 1];
             };
             typedef struct Packet_TM_LFR_TC_EXE_str Packet_TM_LFR_TC_EXE_t;
+            struct Packet_TM_LFR_TC_EXE_CORRUPTED_str
+            {
+                volatile unsigned char targetLogicalAddress;
+                volatile unsigned char protocolIdentifier;
+                volatile unsigned char reserved;
+                volatile unsigned char userApplication;
+                // PACKET HEADER
+                volatile unsigned char packetID[2];
+                volatile unsigned char packetSequenceControl[2];
+                volatile unsigned char packetLength[2];
+                // DATA FIELD HEADER
+                volatile unsigned char spare1_pusVersion_spare2;
+                volatile unsigned char serviceType;
+                volatile unsigned char serviceSubType;
+                volatile unsigned char destinationID;
+                volatile unsigned char time[6];
+                //
+                volatile unsigned char tc_failure_code[2];
+                volatile unsigned char telecommand_pkt_id[2];
+                volatile unsigned char pkt_seq_control[2];
+                volatile unsigned char tc_service;
+                volatile unsigned char tc_subtype;
+                volatile unsigned char pkt_len_rcv_value[2];
+                volatile unsigned char pkt_datafieldsize_cnt[2];
+                volatile unsigned char rcv_crc[2];
+                volatile unsigned char computed_crc[2];
+            };
+            typedef struct Packet_TM_LFR_TC_EXE_CORRUPTED_str Packet_TM_LFR_TC_EXE_CORRUPTED_t;
             struct Header_TM_LFR_SCIENCE_SWF_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY HEADER
                 volatile unsigned char sid;
                 volatile unsigned char hkBIA;
                 volatile unsigned char pktCnt;
                 volatile unsigned char pktNr;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_SWF_str Header_TM_LFR_SCIENCE_SWF_t;
             struct Header_TM_LFR_SCIENCE_CWF_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY DATA HEADER
                 volatile unsigned char sid;
                 volatile unsigned char hkBIA;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_CWF_str Header_TM_LFR_SCIENCE_CWF_t;
             struct Header_TM_LFR_SCIENCE_ASM_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 // AUXILIARY HEADER
                 volatile unsigned char sid;
                 volatile unsigned char biaStatusInfo;
                 volatile unsigned char cntASM;
                 volatile unsigned char nrASM;
                 volatile unsigned char acquisitionTime[6];
                 volatile unsigned char blkNr[2];
             };
             typedef struct Header_TM_LFR_SCIENCE_ASM_str Header_TM_LFR_SCIENCE_ASM_t;
             struct ccsdsTelecommandPacket_str
             {
                 //unsigned char targetLogicalAddress; // removed by the grspw module
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char headerFlag_pusVersion_Ack;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char sourceID;
                 volatile unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
             };
             typedef struct ccsdsTelecommandPacket_str ccsdsTelecommandPacket_t;
             struct Packet_TM_LFR_HK_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
-                volatile unsigned char dataFieldHeader[10];
+                volatile unsigned char spare1_pusVersion_spare2;
+                volatile unsigned char serviceType;
+                volatile unsigned char serviceSubType;
+                volatile unsigned char destinationID;
+                volatile unsigned char time[6];
                 volatile unsigned char sid;
                 //**************
                 // HK PARAMETERS
                 unsigned char lfr_status_word[2];
                 unsigned char lfr_sw_version[4];
                 // tc statistics
                 unsigned char hk_lfr_update_info_tc_cnt[2];
                 unsigned char hk_lfr_update_time_tc_cnt[2];
                 unsigned char hk_dpu_exe_tc_lfr_cnt[2];
                 unsigned char hk_dpu_rej_tc_lfr_cnt[2];
                 unsigned char hk_lfr_last_exe_tc_id[2];
                 unsigned char hk_lfr_last_exe_tc_type[2];
                 unsigned char hk_lfr_last_exe_tc_subtype[2];
                 unsigned char hk_lfr_last_exe_tc_time[6];
                 unsigned char hk_lfr_last_rej_tc_id[2];
                 unsigned char hk_lfr_last_rej_tc_type[2];
                 unsigned char hk_lfr_last_rej_tc_subtype[2];
                 unsigned char hk_lfr_last_rej_tc_time[6];
                 // anomaly statistics
                 unsigned char hk_lfr_le_cnt[2];
                 unsigned char hk_lfr_me_cnt[2];
                 unsigned char hk_lfr_he_cnt[2];
                 unsigned char hk_lfr_last_er_rid[2];
                 unsigned char hk_lfr_last_er_code;
                 unsigned char hk_lfr_last_er_time[6];
                 // vhdl_blk_status
                 unsigned char hk_lfr_vhdl_aa_sm;
                 unsigned char hk_lfr_vhdl_fft_sr;
                 unsigned char hk_lfr_vhdl_cic_hk;
                 unsigned char hk_lfr_vhdl_iir_cal;
                 // spacewire_if_statistics
                 unsigned char hk_lfr_dpu_spw_pkt_rcv_cnt[2];
                 unsigned char hk_lfr_dpu_spw_pkt_sent_cnt[2];
                 unsigned char hk_lfr_dpu_spw_tick_out_cnt;
                 unsigned char hk_lfr_dpu_spw_last_timc;
                 // ahb error statistics
                 unsigned int hk_lfr_last_fail_addr;
                 // temperatures
                 unsigned char hk_lfr_temp_scm[2];
                 unsigned char hk_lfr_temp_pcb[2];
                 unsigned char hk_lfr_temp_fpga[2];
                 // error counters
                 unsigned char hk_lfr_dpu_spw_parity;
                 unsigned char hk_lfr_dpu_spw_disconnect;
                 unsigned char hk_lfr_dpu_spw_escape;
                 unsigned char hk_lfr_dpu_spw_credit;
                 unsigned char hk_lfr_dpu_spw_write_sync;
                 unsigned char hk_lfr_dpu_spw_rx_ahb;
                 unsigned char hk_lfr_dpu_spw_tx_ahb;
                 unsigned char hk_lfr_dpu_spw_header_crc;
                 unsigned char hk_lfr_dpu_spw_data_crc;
                 unsigned char hk_lfr_dpu_spw_early_eop;
                 unsigned char hk_lfr_dpu_spw_invalid_addr;
                 unsigned char hk_lfr_dpu_spw_eep;
                 unsigned char hk_lfr_dpu_spw_rx_too_big;
                 // timecode
                 unsigned char hk_lfr_timecode_erroneous;
                 unsigned char hk_lfr_timecode_missing;
                 unsigned char hk_lfr_timecode_invalid;
                 // time
                 unsigned char hk_lfr_time_timecode_it;
                 unsigned char hk_lfr_time_not_synchro;
                 unsigned char hk_lfr_time_timecode_ctr;
                 // hk_lfr_buffer_dpu_
                 unsigned char hk_lfr_buffer_dpu_tc_fifo;
                 unsigned char hk_lfr_buffer_dpu_tm_fifo;
                 // hk_lfr_ahb_
                 unsigned char hk_lfr_ahb_correctable;
                 unsigned char hk_lfr_ahb_uncorrectable;
                 unsigned char hk_lfr_ahb_fails_trans;
                 // hk_lfr_adc_
                 unsigned char hk_lfr_adc_failure;
                 unsigned char hk_lfr_adc_timeout;
                 unsigned char hk_lfr_toomany_err;
                 // hk_lfr_cpu_
                 unsigned char hk_lfr_cpu_write_err;
                 unsigned char hk_lfr_cpu_ins_access_err;
                 unsigned char hk_lfr_cpu_illegal_ins;
                 unsigned char hk_lfr_cpu_privilegied_ins;
                 unsigned char hk_lfr_cpu_register_hw;
                 unsigned char hk_lfr_cpu_not_aligned;
                 unsigned char hk_lfr_cpu_data_exception;
                 unsigned char hk_lfr_cpu_div_exception;
                 unsigned char hk_lfr_cpu_arith_overflow;
             };
             typedef struct Packet_TM_LFR_HK_str Packet_TM_LFR_HK_t;
             struct Packet_TM_LFR_PARAMETER_DUMP_str
             {
                 volatile unsigned char targetLogicalAddress;
                 volatile unsigned char protocolIdentifier;
                 volatile unsigned char reserved;
                 volatile unsigned char userApplication;
                 volatile unsigned char packetID[2];
                 volatile unsigned char packetSequenceControl[2];
                 volatile unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 volatile unsigned char spare1_pusVersion_spare2;
                 volatile unsigned char serviceType;
                 volatile unsigned char serviceSubType;
                 volatile unsigned char destinationID;
                 volatile unsigned char time[6];
                 volatile unsigned char sid;
                 //******************
                 // COMMON PARAMETERS
                 volatile unsigned char unused0;
                 volatile unsigned char bw_sp0_sp1_r0_r1;
                 //******************
                 // NORMAL PARAMETERS
                 volatile unsigned char sy_lfr_n_swf_l[2];
                 volatile unsigned char sy_lfr_n_swf_p[2];
                 volatile unsigned char sy_lfr_n_asm_p[2];
                 volatile unsigned char sy_lfr_n_bp_p0;
                 volatile unsigned char sy_lfr_n_bp_p1;
                 //*****************
                 // BURST PARAMETERS
                 volatile unsigned char sy_lfr_b_bp_p0;
                 volatile unsigned char sy_lfr_b_bp_p1;
                 //****************
                 // SBM1 PARAMETERS
                 volatile unsigned char sy_lfr_s1_bp_p0;
                 volatile unsigned char sy_lfr_s1_bp_p1;
                 //****************
                 // SBM2 PARAMETERS
                 volatile unsigned char sy_lfr_s2_bp_p0;
                 volatile unsigned char sy_lfr_s2_bp_p1;
             };
             typedef struct Packet_TM_LFR_PARAMETER_DUMP_str Packet_TM_LFR_PARAMETER_DUMP_t;
             #endif // CCSDS_H_INCLUDED

header/fsw_init.h +11 -20

             #ifndef FSW_RTEMS_H_INCLUDED
             #define FSW_RTEMS_H_INCLUDED
             #include <errno.h>
             #include <fcntl.h>
             #include <stdio.h>
             #include <stdlib.h>
             #include <grspw.h>
             #include <apbuart.h>
-            #include <fsw_params.h>
+            #include "fsw_params.h"
-            #include <fsw_misc.h>
+            #include "fsw_misc.h"
-            #include <fsw_processing.h>
+            #include "fsw_processing.h"
-            #include <tc_handler.h>
+            #include "tc_handler.h"
-            #include <wf_handler.h>
+            #include "wf_handler.h"
-            #include <grlib_regs.h>
+            #include "grlib_regs.h"
-            #include <ccsds_types.h>
+            #include "ccsds_types.h"
+            #include "fsw_spacewire.h"
             extern int sched_yield( void );
             extern int errno;
             extern rtems_id   Task_id[ ];       /* array of task ids */
             extern rtems_name Task_name[ ];     /* array of task names */
             extern rtems_name misc_name[ ];    /* arry of miscellaneous names for rtems objects */
             extern int fdSPW;   // grspw file descriptor
             extern int fdUART;  // uart file descriptor
+            extern unsigned char lfrCurrentMode;
-            void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc);
             // MODE PARAMETERS
             extern struct param_local_str param_local;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
-            extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
             // RTEMS TASKS
             rtems_task Init( rtems_task_argument argument);	/* forward declaration needed */
             rtems_task recv_task(rtems_task_argument argument);
-            rtems_task spiq_task(rtems_task_argument argument);
             rtems_task stat_task(rtems_task_argument argument);
             rtems_task wfrm_task(rtems_task_argument argument);
             int create_names( void );
             int create_all_tasks( void );
             int start_all_tasks( void );
             int create_message_queue( void );
+            int create_message_queues( void );
             // OTHER functions
             void init_parameter_dump( void );
             void init_local_mode_parameters( void );
             void init_housekeeping_parameters( void );
-            int spacewire_configure_link( void );
-            int spacewire_wait_for_link(void);
-            void spacewire_set_NP(unsigned char val, unsigned int regAddr); // No Port force
-            void spacewire_set_RE(unsigned char val, unsigned int regAddr); // RMAP Enable
-            void spacewire_compute_stats_offsets();
             extern int rtems_cpu_usage_report( void );
             extern int rtems_cpu_usage_reset( void );
-            rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send);
-            void (*grspw_timecode_callback) (void *pDev, void *regs, int minor, unsigned int tc);
             #endif // FSW_RTEMS_CONFIG_H_INCLUDED

header/fsw_misc.h +7 -6

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

header/fsw_params.h +31 -1

             #ifndef FSW_RTEMS_CONFIG_H_INCLUDED
             #define FSW_RTEMS_CONFIG_H_INCLUDED
             #include <fsw_params_processing.h>
             #define GRSPW_DEVICE_NAME "/dev/grspw0"
             #define UART_DEVICE_NAME "/dev/console"
             //************************
             // flight software version
             // this parameters is handled by the Qt project options
             //**********
             // LFR MODES
             #define LFR_MODE_STANDBY 0
             #define LFR_MODE_NORMAL 1
             #define LFR_MODE_BURST 2
             #define LFR_MODE_SBM1 3
             #define LFR_MODE_SBM2 4
             #define LFR_MODE_NORMAL_CWF_F3 5
             #define RTEMS_EVENT_MODE_STANDBY RTEMS_EVENT_0
             #define RTEMS_EVENT_MODE_NORMAL RTEMS_EVENT_1
             #define RTEMS_EVENT_MODE_BURST RTEMS_EVENT_2
             #define RTEMS_EVENT_MODE_SBM1 RTEMS_EVENT_3
             #define RTEMS_EVENT_MODE_SBM2 RTEMS_EVENT_4
-            #define RTEMS_EVENT_MODE_NORMAL_CWF_F3 RTEMS_EVENT_5
             //****************************
             // LFR DEFAULT MODE PARAMETERS
             // COMMON
             #define DEFAULT_SY_LFR_COMMON0 0x00
             #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
             // NORM
             #define DEFAULT_SY_LFR_N_SWF_L 2048 // nb sample
             #define DEFAULT_SY_LFR_N_SWF_P 16   // sec
             #define DEFAULT_SY_LFR_N_ASM_P 16   // sec
             #define DEFAULT_SY_LFR_N_BP_P0 4    // sec
             #define DEFAULT_SY_LFR_N_BP_P1 20   // sec
             #define MIN_DELTA_SNAPSHOT 16       // sec
             // BURST
             #define DEFAULT_SY_LFR_B_BP_P0 1    // sec
             #define DEFAULT_SY_LFR_B_BP_P1 5    // sec
             // SBM1
             #define DEFAULT_SY_LFR_S1_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S1_BP_P1 1   // sec
             // SBM2
             #define DEFAULT_SY_LFR_S2_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S2_BP_P1 5   // sec
+            // ADDITIONAL PARAMETERS
+            #define TIME_BETWEEN_TWO_SWF_PACKETS 30     // nb x 10 ms => 300 ms
+            #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000 // nb x 10 ms => 10 s
+            //
+            //****************************
             //*****************************
             // APB REGISTERS BASE ADDRESSES
             #define REGS_ADDR_APBUART 0x80000100
             #define REGS_ADDR_GPTIMER 0x80000300
             #define REGS_ADDR_GRSPW 0x80000500
             #define REGS_ADDR_TIME_MANAGEMENT 0x80000600
             #define REGS_ADDR_SPECTRAL_MATRIX 0x80000f00
             #ifdef GSA
             #else
                 #define REGS_ADDR_WAVEFORM_PICKER 0x80000f20
             #endif
             #define APBUART_CTRL_REG_MASK_DB 0xfffff7ff
             #define APBUART_SCALER_RELOAD_VALUE 0x00000050      // 25 MHz => about 38400 (0x50)
             //**********
             // IRQ LINES
             #define IRQ_SM 9
             #define IRQ_SPARC_SM 0x19               // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WF 10
             #define IRQ_SPARC_WF 0x1a               // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_TIME1 12
             #define IRQ_SPARC_TIME1 0x1c            // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_TIME2 13
             #define IRQ_SPARC_TIME2 0x1d            // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WAVEFORM_PICKER 14
             #define IRQ_SPARC_WAVEFORM_PICKER 0x1e  // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_SPECTRAL_MATRIX 6
             #define IRQ_SPARC_SPECTRAL_MATRIX 0x16  // see sparcv8.pdf p.76 for interrupt levels
             //*****
             // TIME
             #define CLKDIV_SM_SIMULATOR (10000 - 1)     // 10 ms
             #define CLKDIV_WF_SIMULATOR (10000000 - 1)  // 10 000 000 * 1 us = 10 s
             #define TIMER_SM_SIMULATOR 1
             #define TIMER_WF_SIMULATOR 2
             #define HK_PERIOD 100 // 100 * 10ms => 1sec
             //**********
             // LPP CODES
             #define LFR_SUCCESSFUL 0
             #define LFR_DEFAULT 1
             //******
             // RTEMS
             #define TASKID_RECV 1
             #define TASKID_ACTN 2
             #define TASKID_SPIQ 3
             #define TASKID_SMIQ 4
             #define TASKID_STAT 5
             #define TASKID_AVF0 6
             #define TASKID_BPF0 7
             #define TASKID_WFRM 8
             #define TASKID_DUMB 9
             #define TASKID_HOUS 10
             #define TASKID_MATR 11
             #define TASKID_CWF3 12
+            #define TASKID_CWF2 13
+            #define TASKID_CWF1 14
+            #define TASKID_SEND 15
+            //*********************************************************************
+            // ALL TASKS THAT USE THE SPACEWIRE DIRVER SHALL HAVE THE SAME PRIORITY
+            // OR CHANGE THE SEMAPHORE CREATION IN THE DRIVER...
+            #define TASK_PRIORITY_SPIQ 5
+            #define TASK_PRIORITY_SMIQ 10
+            #define TASK_PRIORITY_SEND 11
+            #define TASK_PRIORITY_RECV 12
+            #define TASK_PRIORITY_ACTN 12
+            #define TASK_PRIORITY_CWF1 14
+            #define TASK_PRIORITY_HOUS 15
+            #define TASK_PRIORITY_CWF2 15
+            #define TASK_PRIORITY_WFRM 15
+            #define TASK_PRIORITY_CWF3 15
+            #define TASK_PRIORITY_AVF0 50
+            #define TASK_PRIORITY_BPF0 50
+            #define TASK_PRIORITY_MATR 250
+            #define TASK_PRIORITY_STAT 251
+            #define TASK_PRIORITY_DUMB 251
             #define ACTION_MSG_QUEUE_COUNT 10
+            #define ACTION_MSG_PKTS_COUNT 50
+            #define ACTION_MSG_PKTS_SIZE
             //*******
             // 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
+            #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
             #define NB_SAMPLES_PER_SNAPSHOT 2048
             #define TIME_OFFSET 2
             #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
             #define NB_BYTES_SWF_BLK 2 * 6
             #define NB_WORDS_SWF_BLK 3
             //******************
             // SEQUENCE COUNTERS
             #define SEQ_CNT_NB_PID 2
             #define SEQ_CNT_NB_CAT 4
             #define SEQ_CNT_NB_DEST_ID 11
             // pid
             #define SEQ_CNT_PID_76 0
             #define SEQ_CNT_PID_79 1
             //cat
             #define SEQ_CNT_CAT_1 0
             #define SEQ_CNT_CAT_4 1
             #define SEQ_CNT_CAT_9 2
             #define SEQ_CNT_CAT_12 3
             // destination id
             #define SEQ_CNT_DST_ID_GROUND 0
             #define SEQ_CNT_DST_ID_MISSION_TIMELINE 1
             #define SEQ_CNT_DST_ID_TC_SEQUENCES 2
             #define SEQ_CNT_DST_ID_RECOVERY_ACTION_CMD 3
             #define SEQ_CNT_DST_ID_BACKUP_MISSION_TIMELINE 4
             #define SEQ_CNT_DST_ID_DIRECT_CMD 5
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC1 6
             #define SEQ_CNT_DST_ID_SPARE_GRD_SRC2 7
             #define SEQ_CNT_DST_ID_OBCP 8
             #define SEQ_CNT_DST_ID_SYSTEM_CONTROL 9
             #define SEQ_CNT_DST_ID_AOCS 10
             struct param_local_str{
                 unsigned int local_sbm1_nb_cwf_sent;
                 unsigned int local_sbm1_nb_cwf_max;
                 unsigned int local_sbm2_nb_cwf_sent;
                 unsigned int local_sbm2_nb_cwf_max;
                 unsigned int local_nb_interrupt_f0_MAX;
             };
             #endif // FSW_RTEMS_CONFIG_H_INCLUDED

header/tc_handler.h +23 -20

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <bsp.h>        // for the LEON_Unmask_interrupt function
             #include <stdio.h>
             #include <unistd.h>     // for the read call
             #include <sys/ioctl.h>  // for the ioctl call
             #include <ccsds_types.h>
             #include <grspw.h>
-            #include <fsw_init.h>
+            #include "fsw_init.h"
+            #include "fsw_misc.h"
             extern int fdSPW;
+            extern unsigned char lfrCurrentMode;
             extern rtems_name misc_name[ ];
             extern rtems_name misc_id[ ];
             extern rtems_id Task_id[ ];         // array of task ids
             // MODE PARAMETERS
             extern struct param_sbm1_str param_sbm1;
             extern struct param_sbm2_str param_sbm2;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
-            extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern time_management_regs_t *time_management_regs;
             extern waveform_picker_regs_t *waveform_picker_regs;
             extern gptimer_regs_t         *gptimer_regs;
             //****
             // ISR
             rtems_isr commutation_isr1( rtems_vector_number vector );
             rtems_isr commutation_isr2( rtems_vector_number vector );
             //**********************
             // GENERAL USE FUNCTIONS
+            unsigned int Crc_opt( unsigned char D, unsigned int Chk);
             void initLookUpTableForCRC( void );
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData);
+            void updateLFRCurrentMode();
             //*********************
             // ACCEPTANCE FUNCTIONS
             int TC_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV);
             unsigned char TC_parser(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV);
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                           TMHeader_t *TMHeader, unsigned char tc_sid);
-            unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC);
             //***********
             // RTEMS TASK
             rtems_task recv_task( rtems_task_argument unused );
             rtems_task actn_task( rtems_task_argument unused );
             rtems_task dumb_task( rtems_task_argument unused );
-            int create_message_queue( void );
             //***********
             // TC ACTIONS
-            int action_default(ccsdsTelecommandPacket_t *TC);
+            int action_reset(ccsdsTelecommandPacket_t *TC);
-            int action_enter(ccsdsTelecommandPacket_t *TC);
+            int action_load_common_par(ccsdsTelecommandPacket_t *TC);
-            int action_updt_info(ccsdsTelecommandPacket_t *TC);
+            int action_load_normal_par(ccsdsTelecommandPacket_t *TC);
+            int action_load_burst_par(ccsdsTelecommandPacket_t *TC);
+            int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC);
+            int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC);
+            int action_dump_par(ccsdsTelecommandPacket_t *TC);
+            int action_enter_mode(ccsdsTelecommandPacket_t *TC);
+            int action_update_info(ccsdsTelecommandPacket_t *TC);
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC);
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC);
-            int action_updt_time(ccsdsTelecommandPacket_t *TC);
+            int action_update_time(ccsdsTelecommandPacket_t *TC);
             // mode transition
             int transition_validation(unsigned char requestedMode);
             int stop_current_mode();
             int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC);
-            int enter_standby_mode(ccsdsTelecommandPacket_t *TC);
+            int enter_standby_mode();
-            int enter_normal_mode(ccsdsTelecommandPacket_t *TC);
+            int enter_normal_mode();
-            int enter_burst_mode(ccsdsTelecommandPacket_t *TC);
+            int enter_burst_mode();
-            int enter_sbm1_mode(ccsdsTelecommandPacket_t *TC);
+            int enter_sbm1_mode();
-            int enter_sbm2_mode(ccsdsTelecommandPacket_t *TC);
+            int enter_sbm2_mode();
             int restart_science_tasks();
             int suspend_science_tasks();
-            // parameters loading
-            int action_load_comm(ccsdsTelecommandPacket_t *TC);
-            int action_load_norm(ccsdsTelecommandPacket_t *TC);
-            int action_load_burst(ccsdsTelecommandPacket_t *TC);
-            int action_load_sbm1(ccsdsTelecommandPacket_t *TC);
-            int action_load_sbm2(ccsdsTelecommandPacket_t *TC);
-            int action_dump(ccsdsTelecommandPacket_t *TC);
             // other functions
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC);
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC);
             void close_action(ccsdsTelecommandPacket_t *TC, int result);
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_not_executable(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_not_implemented(ccsdsTelecommandPacket_t *TC);
             int send_tm_lfr_tc_exe_error(ccsdsTelecommandPacket_t *TC);
             #endif // TC_HANDLER_H_INCLUDED

header/wf_handler.h +21 -15

             #ifndef WF_HANDLER_H_INCLUDED
             #define WF_HANDLER_H_INCLUDED
             #include <rtems.h>
-            #include <fsw_params.h>
             #include <grspw.h>
-            #include <grlib_regs.h>
-            #include <ccsds_types.h>
             #include <stdio.h>
-            #include <fsw_init.h>
             #include <math.h>
+            #include "fsw_params.h"
+            #include "grlib_regs.h"
+            #include "ccsds_types.h"
+            #include "fsw_init.h"
             #define pi 3.1415
             //#include <sys/ioctl.h>
             extern rtems_id Task_id[];         /* array of task ids */
             extern int fdSPW;
             extern volatile int wf_snap_f0[ ];
+            //
             extern volatile int wf_snap_f1[ ];
             extern volatile int wf_snap_f1_bis[ ];
+            extern volatile int wf_snap_f1_norm[ ];
+            //
             extern volatile int wf_snap_f2[ ];
             extern volatile int wf_snap_f2_bis[ ];
+            extern volatile int wf_snap_f2_norm[ ];
+            //
             extern volatile int wf_cont_f3[ ];
             extern volatile int wf_cont_f3_bis[ ];
             extern waveform_picker_regs_t *waveform_picker_regs;
+            extern unsigned char lfrCurrentMode;
             rtems_isr waveforms_isr( rtems_vector_number vector );
             rtems_isr waveforms_simulator_isr( rtems_vector_number vector );
             rtems_task wfrm_task(rtems_task_argument argument);
             rtems_task cwf3_task(rtems_task_argument argument);
+            rtems_task cwf2_task(rtems_task_argument argument);
+            rtems_task cwf1_task(rtems_task_argument argument);
             //******************
             // general functions
             void init_waveforms( void );
-            void init_header_snapshot_wf( Header_TM_LFR_SCIENCE_SWF_t *header );
+            //
-            void init_header_continuous_wf( Header_TM_LFR_SCIENCE_CWF_t *header );
+            int init_header_snapshot_wf_table( unsigned int sid );
+            int init_header_continuous_wf_table(unsigned int sid , Header_TM_LFR_SCIENCE_CWF_t *headerCWF);
+            //
             void reset_waveforms( void );
-            void send_waveform_norm( Header_TM_LFR_SCIENCE_SWF_t *header, spw_ioctl_pkt_send *spw_ioctl_send );
-            void send_waveform_burst( Header_TM_LFR_SCIENCE_CWF_t *header, spw_ioctl_pkt_send *spw_ioctl_send );
-            void send_waveform_sbm1( Header_TM_LFR_SCIENCE_CWF_t *header, spw_ioctl_pkt_send *spw_ioctl_send );
-            void send_waveform_sbm2( Header_TM_LFR_SCIENCE_CWF_t *header, spw_ioctl_pkt_send *spw_ioctl_send );
-            void send_waveform_norm_cwf_f3(Header_TM_LFR_SCIENCE_CWF_t *header, spw_ioctl_pkt_send *spw_ioctl_send );
-            void send_waveform_SWF( Header_TM_LFR_SCIENCE_SWF_t *header, volatile int *waveform,
+            int send_waveform_SWF(volatile int *waveform, unsigned int sid);
-                                    unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send );
+            int send_waveform_CWF(volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF);
-            void send_waveform_CWF( Header_TM_LFR_SCIENCE_CWF_t *header, volatile int *waveform,
-                                    unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send );
             //**************
             // wfp registers
             void set_wfp_data_shaping();
             char set_wfp_delta_snapshot();
             void set_wfp_burst_enable_register( unsigned char mode);
             void reset_wfp_burst_enable();
+            void reset_wfp_status();
             void reset_waveform_picker_regs();
             //*****************
             // local parameters
             void set_local_sbm1_nb_cwf_max();
             void set_local_sbm2_nb_cwf_max();
             void set_local_nb_interrupt_f0_MAX();
             void reset_local_sbm1_nb_cwf_sent();
             void reset_local_sbm2_nb_cwf_sent();
             #endif // WF_HANDLER_H_INCLUDED

src/fsw_config.c +1 -1

             #include <drvmgr/ambapp_bus.h>
             // GRSPW0 resources
             struct drvmgr_key grlib_grspw_0n1_res[] = {
-            	{"txBdCnt", KEY_TYPE_INT, {(unsigned int)10}},
+                {"txBdCnt", KEY_TYPE_INT, {(unsigned int)50}}, // 7 SWF_F0, 7 SWF_F1, 7 SWF_F2, 7 CWF_F3, 7 CWF_F1 ou 7 CWF_F2
                 	{"rxBdCnt", KEY_TYPE_INT, {(unsigned int)10}},
                 	{"txDataSize", KEY_TYPE_INT, {(unsigned int)4096}},
                 	{"txHdrSize", KEY_TYPE_INT, {(unsigned int)20+12}}, // 12 is for the auxiliary header, when needed
                 	{"rxPktSize", KEY_TYPE_INT, {(unsigned int)248+4}},
                 	KEY_EMPTY
             };
             #if 0
                 /* APBUART0 */
                 struct drvmgr_key grlib_drv_res_apbuart0[] =
                 {
                     {"mode", KEY_TYPE_INT, {(unsigned int)1}},
                     {"syscon", KEY_TYPE_INT, {(unsigned int)1}},
                     KEY_EMPTY
                 };
                 /* APBUART1 */
                 struct drvmgr_key grlib_drv_res_apbuart1[] =
                 {
                     {"mode", KEY_TYPE_INT, {(unsigned int)1}},
                     {"syscon", KEY_TYPE_INT, {(unsigned int)0}},
                     KEY_EMPTY
                 };
                 /* LEON3 System with driver configuration for 2 APBUARTs, the
                 * the rest of the AMBA device drivers use their defaults.
                 */
                 /* Override default debug UART assignment.
                 * 0 = Default APBUART. APBUART[0], but on MP system CPU0=APBUART0,
                 *     CPU1=APBUART1...
                 * 1 = APBUART[0]
                 * 2 = APBUART[1]
                 * 3 = APBUART[2]
                 * ...
                 */
                 //int debug_uart_index = 2; /* second UART -- APBUART[1] */
             #endif
             // If RTEMS_DRVMGR_STARTUP is defined we override the "weak defaults" that is defined by the LEON3 BSP.
             struct drvmgr_bus_res grlib_drv_resources = {
                 .next = NULL,
                 .resource = {
                     {DRIVER_AMBAPP_GAISLER_GRSPW_ID, 0, &grlib_grspw_0n1_res[0]},
             //        {DRIVER_AMBAPP_GAISLER_APBUART_ID, 0, &grlib_drv_res_apbuart0[0]},
             //        {DRIVER_AMBAPP_GAISLER_APBUART_ID, 1, &grlib_drv_res_apbuart1[0]},
                     RES_EMPTY /* Mark end of device resource array */
                 }
             };

src/fsw_globals.c +8 -2

             //#include <fsw_processing.h>
             #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_name misc_id[5];
-            rtems_id   Task_id[15];         /* array of task ids */
+            rtems_id   Task_id[20];         /* array of task ids */
-            rtems_name Task_name[15];       /* array of task names */
+            rtems_name Task_name[20];       /* array of task names */
             int fdSPW = 0;
             int fdUART = 0;
+            unsigned char lfrCurrentMode;
             // APB CONFIGURATION REGISTERS
             time_management_regs_t *time_management_regs = (time_management_regs_t*) REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t         *gptimer_regs         = (gptimer_regs_t *)        REGS_ADDR_GPTIMER;
             #ifdef GSA
             #else
                 waveform_picker_regs_t *waveform_picker_regs = (waveform_picker_regs_t*) REGS_ADDR_WAVEFORM_PICKER;
             #endif
             spectral_matrix_regs_t *spectral_matrix_regs = (spectral_matrix_regs_t*) REGS_ADDR_SPECTRAL_MATRIX;
             // WAVEFORMS GLOBAL VARIABLES // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes
             volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
+            //
             volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_snap_f1_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
+            volatile int wf_snap_f1_norm[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
+            //
             volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_snap_f2_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
+            volatile int wf_snap_f2_norm[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
+            //
             volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             volatile int wf_cont_f3_bis[ NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK + TIME_OFFSET];
             // SPECTRAL MATRICES GLOBAL VARIABLES
             volatile int spec_mat_f0_0[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_1[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_c[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_d[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_e[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_f[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_g[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_h[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_0_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f0_1_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             //
             volatile int spec_mat_f1[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f1_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             //
             volatile int spec_mat_f2[ SM_HEADER + TOTAL_SIZE_SM ];
             volatile int spec_mat_f2_bis[ SM_HEADER + TOTAL_SIZE_SM ];
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters[SEQ_CNT_NB_PID][SEQ_CNT_NB_CAT][SEQ_CNT_NB_DEST_ID];
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +71 -224

             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
-            #define CONFIGURE_MAXIMUM_TASKS 15
+            #define CONFIGURE_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 100
+            #define CONFIGURE_INIT_TASK_PRIORITY 5 // instead of 100
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
-            #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 1
+            #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include <fsw_init.h>
             #include <fsw_config.c>
-            char *lstates[6] = {"Error-reset",
-                                "Error-wait",
-                                "Ready",
-                                "Started",
-                                "Connecting",
-                                "Run"
-            };
             rtems_task Init( rtems_task_argument ignored )
             {
                 rtems_status_code status;
                 rtems_isr_entry  old_isr_handler;
                 PRINTF("\n\n\n\n\n")
                 PRINTF("***************************\n")
                 PRINTF("** START Flight Software **\n")
                 PRINTF("***************************\n")
                 PRINTF("\n\n")
                 //send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 initLookUpTableForCRC(); // in tc_handler.h
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
-                create_message_queue();
+                create_message_queues();
                 create_names();         // create all names
                 create_all_tasks();     // create all tasks
                 start_all_tasks();      // start all tasks
                 stop_current_mode();    // go in STANDBY mode
                 grspw_timecode_callback = &timecode_irq_handler;
                 spacewire_configure_link();
             #ifdef GSA
                 // Spectral Matrices simulator
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
-                //**********
+                // WaveForms
-                // WAVEFORMS
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_simulator_isr );
                 LEON_Mask_interrupt( IRQ_SM );
                 LEON_Mask_interrupt( IRQ_WF );
             #else
                 // reset configuration registers
                 reset_waveform_picker_regs();
                 reset_spectral_matrix_regs();
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrix unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // mask IRQ lines
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );
             #endif
-                //**********
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_parameter_dump(void)
             {
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
-                parameter_dump_packet.packetSequenceControl[0] = (unsigned char) (TM_PACKET_SEQ_CTRL_STANDALONE << 6);
+                parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                parameter_dump_packet.packetSequenceControl[1] = 0x00;
+                parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                 // DATA FIELD HEADER
                 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L >> 8);
-                parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_L;
+                parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P >> 8);
-                parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) DEFAULT_SY_LFR_N_SWF_P;
+                parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P >> 8);
-                parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) DEFAULT_SY_LFR_N_ASM_P;
+                parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DEFAULT_SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DEFAULT_SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DEFAULT_SY_LFR_N_BP_P1;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
             }
             void init_local_mode_parameters(void)
             {
                 // LOCAL PARAMETERS
                 set_local_sbm1_nb_cwf_max();
                 set_local_sbm2_nb_cwf_max();
                 set_local_nb_interrupt_f0_MAX();
                 PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 reset_local_sbm1_nb_cwf_sent();
                 reset_local_sbm2_nb_cwf_sent();
             }
             void init_housekeeping_parameters(void)
             {
                 unsigned int i = 0;
                 unsigned int j = 0;
                 unsigned int k = 0;
                 char *parameters;
                 parameters = (char*) &housekeeping_packet.lfr_status_word;
                 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = 0x00;
                 housekeeping_packet.lfr_status_word[1] = 0x00;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init sequence counters
                 for (i = 0; i<SEQ_CNT_NB_PID; i++)
                 {
                     for(j = 0; j<SEQ_CNT_NB_CAT; j++)
                     {
                         for(k = 0; k<SEQ_CNT_NB_DEST_ID; k++)
                         {
                             sequenceCounters[i][j][k] = 0x00;
                         }
                     }
                 }
+                updateLFRCurrentMode();
             }
             int create_names( void )
             {
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_BPF0] = rtems_build_name( 'B', 'P', 'F', '0' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
+                Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
+                Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
+                Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 // rate monotonic period name
                 HK_name = rtems_build_name( 'H', 'O', 'U', 'S' );
                 return 0;
             }
             int create_all_tasks( void )
             {
                 rtems_status_code status;
                 // RECV
                 status = rtems_task_create(
-                    Task_name[TASKID_RECV], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 // ACTN
                 status = rtems_task_create(
-                    Task_name[TASKID_ACTN], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_ACTN]
                 );
                 // SPIQ
                 status = rtems_task_create(
-                    Task_name[TASKID_SPIQ], 5, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                 );
                 // SMIQ
                 status = rtems_task_create(
-                    Task_name[TASKID_SMIQ], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_SMIQ], TASK_PRIORITY_SMIQ, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SMIQ]
                 );
                 // STAT
                 status = rtems_task_create(
-                    Task_name[TASKID_STAT], 251, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                 );
                 // AVF0
                 status = rtems_task_create(
-                    Task_name[TASKID_AVF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                 );
                 // BPF0
                 status = rtems_task_create(
-                    Task_name[TASKID_BPF0], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_BPF0], TASK_PRIORITY_BPF0, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_BPF0]
                 );
                 // WFRM
                 status = rtems_task_create(
-                    Task_name[TASKID_WFRM], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                 );
                 // DUMB
                 status = rtems_task_create(
-                    Task_name[TASKID_DUMB], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                 );
                 // HOUS
                 status = rtems_task_create(
-                    Task_name[TASKID_HOUS], 199, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                 );
                 // MATR
                 status = rtems_task_create(
-                    Task_name[TASKID_MATR], 250, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_MATR], TASK_PRIORITY_MATR, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_MATR]
                 );
                 // CWF3
                 status = rtems_task_create(
-                    Task_name[TASKID_CWF3], 250, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF3]
                 );
+                // CWF2
+                status = rtems_task_create(
+                    Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    RTEMS_DEFAULT_MODES,
+                    RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF2]
+                );
+                // CWF1
+                status = rtems_task_create(
+                    Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    RTEMS_DEFAULT_MODES,
+                    RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_CWF1]
+                );
+                // SEND
+                status = rtems_task_create(
+                    Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
+                    RTEMS_DEFAULT_MODES,
+                    RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
+                );
                 return 0;
             }
             int start_all_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_ACTN\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_SMIQ], smiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_BPPR\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_STAT\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_AVF0\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_BPF0], bpf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_BPF0\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_WFRM\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_DUMB\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_HOUS\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_MATR], matr_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_MATR\n")
                 }
                 status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in INIT *** Error starting TASK_CWF3\n")
                 }
+                status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
+                if (status!=RTEMS_SUCCESSFUL) {
+                    PRINTF("in INIT *** Error starting TASK_CWF2\n")
+                }
+                status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
+                if (status!=RTEMS_SUCCESSFUL) {
+                    PRINTF("in INIT *** Error starting TASK_CWF1\n")
+                }
+                status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
+                if (status!=RTEMS_SUCCESSFUL) {
+                    PRINTF("in INIT *** Error starting TASK_SEND\n")
+                }
                 return 0;
             }
-            // SPACEWIRE
+            int create_message_queues( void )
-            rtems_task spiq_task(rtems_task_argument unused)
-                rtems_event_set event_out;
-                rtems_status_code status;
-                unsigned char lfrMode;
-                while(true){
-                    PRINTF("in SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
-                    rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
-                    lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
-                    status = spacewire_wait_for_link();
-                    if (status != RTEMS_SUCCESSFUL)
-                        //****************
-                        // STOP THE SYSTEM
-                        spacewire_compute_stats_offsets();
-                        stop_current_mode();
-                        if (rtems_task_suspend(Task_id[TASKID_RECV])!=RTEMS_SUCCESSFUL) {   // suspend RECV task
-                            PRINTF("in SPIQ *** Error suspending RECV Task\n")
-                        if (rtems_task_suspend(Task_id[TASKID_HOUS])!=RTEMS_SUCCESSFUL) {   // suspend HOUS task
-                            PRINTF("in SPIQ *** Error suspending HOUS Task\n")
-                        //***************************
-                        // RESTART THE SPACEWIRE LINK
-                        spacewire_configure_link();
-                        //*******************
-                        // RESTART THE SYSTEM
-                        //ioctl(fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS);   // clear statistics
-                        status = rtems_task_restart( Task_id[TASKID_HOUS], 1 );
-                        if (status != RTEMS_SUCCESSFUL) {
-                            PRINTF1("in SPIQ *** Error restarting HOUS Task *** code %d\n", status)
-                        if (rtems_task_restart(Task_id[TASKID_RECV], 1) != RTEMS_SUCCESSFUL) {    // restart RECV task
-                            PRINTF("in SPIQ *** Error restarting RECV Task\n")
-                        //enter_mode(lfrMode, NULL); // enter the mode that was running before the SpaceWire interruption
-            int spacewire_configure_link( void )
             {
                 rtems_status_code status;
-                close(fdSPW); // close the device if it is already open
+                misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
-                PRINTF("OK  *** in configure_spw_link *** try to open "GRSPW_DEVICE_NAME"\n")
+                misc_name[1] = rtems_build_name( 'P', 'K', 'T', 'S' );
-                fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
-                if ( fdSPW<0 ) {
-                    PRINTF("ERR *** in configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
-                while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, -1) != RTEMS_SUCCESSFUL){
-                    PRINTF(".")
-                    fflush( stdout );
-                    close( fdSPW ); // close the device
-                    fdSPW = open( GRSPW_DEVICE_NAME, O_RDWR ); // open the device. the open call reset the hardware
-                    if (fdSPW<0) {
-                        PRINTF("ERR *** In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
-                    rtems_task_wake_after(100);
-                PRINTF("OK  *** In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
-                spacewire_set_NP(1, REGS_ADDR_GRSPW); // No Port force
-                spacewire_set_RE(1, REGS_ADDR_GRSPW); // the dedicated call seems to  break the no port force configuration
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
+                status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
+                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
-                //
+                if (status!=RTEMS_SUCCESSFUL) {
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
+                    PRINTF("in create_message_queues *** error creating QUEU\n")
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
-                //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
-                //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
-                //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0);             // transmission blocks
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
-                //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 0);      // transmission blocks on full
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
-                //
-                status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909);
-                if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
-                PRINTF("OK  *** in configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
-                return RTEMS_SUCCESSFUL;
-            int spacewire_wait_for_link(void)
-                unsigned int i;
-                int linkStatus;
-                rtems_status_code status = RTEMS_UNSATISFIED;
-                for(i = 0; i< 10; i++){
-                    PRINTF(".")
-                    fflush( stdout );
-                    ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
-                    PRINTF1("in spacewire_wait_for_link *** link status is: %s\n", lstates[linkStatus])
-                    if ( linkStatus == 5) {
-                        PRINTF("in spacewire_wait_for_link *** link is running\n")
-                        status = RTEMS_SUCCESSFUL;
-                        break;
-                    rtems_task_wake_after(100);
                 }
-                return status;
+                status = rtems_message_queue_create( misc_name[1], ACTION_MSG_PKTS_COUNT, sizeof(spw_ioctl_pkt_send),
+                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[1] );
+                if (status!=RTEMS_SUCCESSFUL) {
-            void spacewire_set_NP(unsigned char val, unsigned int regAddr) // [N]o [P]ort force
+                    PRINTF("in create_message_queues *** error creating PKTS\n")
-                unsigned int *spwptr = (unsigned int*) regAddr;
-                if (val == 1) {
-                    *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
-                if (val== 0) {
-                    *spwptr = *spwptr & 0xffdfffff;
                 }
-            void spacewire_set_RE(unsigned char val, unsigned int regAddr) // [R]MAP [E]nable
-                unsigned int *spwptr = (unsigned int*) regAddr;
-                if (val == 1)
-                    *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
-                if (val== 0)
-                    *spwptr = *spwptr & 0xfffdffff;
-            void spacewire_compute_stats_offsets()
-                spw_stats spacewire_stats_grspw;
-                rtems_status_code status;
-                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
-                spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
+                return 0;
-                        + spacewire_stats.packets_received;
-                spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
-                        + spacewire_stats.packets_sent;
-                spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
-                        + spacewire_stats.parity_err;
-                spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
-                        + spacewire_stats.disconnect_err;
-                spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
-                        + spacewire_stats.escape_err;
-                spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
-                        + spacewire_stats.credit_err;
-                spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
-                        + spacewire_stats.write_sync_err;
-                spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
-                        + spacewire_stats.rx_rmap_header_crc_err;
-                spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
-                        + spacewire_stats.rx_rmap_data_crc_err;
-                spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
-                        + spacewire_stats.early_ep;
-                spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
-                        + spacewire_stats.invalid_address;
-                spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
-                        + spacewire_stats.rx_eep_err;
-                spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
-                        + spacewire_stats.rx_truncated;
             }
-            rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
-                rtems_status_code status;
-                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
-                if (status != RTEMS_SUCCESSFUL){
-                    //PRINTF1("ERR *** in write_spw *** write operation failed with code: %d\n", status)
-                return status;
-            void timecode_irq_handler(void *pDev, void *regs, int minor, unsigned int tc)
-                if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
-                    printf("In timecode_irq_handler *** Error sending event to DUMB\n");

src/fsw_misc.c +54 -41

             #include <fsw_misc.h>
             #include <fsw_params.h>
-            extern rtems_id Task_id[];         /* array of task ids */
-            extern int fdSPW;
-            extern TMHeader_t housekeeping_header;
-            extern char housekeeping_data[];
-            extern Packet_TM_LFR_HK_t housekeeping_packet;
             int configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             { // configure the timer for the waveforms simulation
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status==RTEMS_SUCCESSFUL)
                 {
                     PRINTF("In configure_timer *** rtems_interrupt_catch successfullly configured\n")
                 }
                 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
                 return 1;
             }
             int timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
                 return 1;
             }
             int timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 return 1;
             }
             int timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
             {
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
                 return 1;
             }
             void update_spacewire_statistics()
             {
                 rtems_status_code status;
                 spw_stats spacewire_stats_grspw;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
                         + spacewire_stats_grspw.packets_received;
                 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
                         + spacewire_stats_grspw.packets_sent;
                 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
                         + spacewire_stats_grspw.parity_err;
                 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
                         + spacewire_stats_grspw.disconnect_err;
                 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
                         + spacewire_stats_grspw.escape_err;
                 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
                         + spacewire_stats_grspw.credit_err;
                 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
                         + spacewire_stats_grspw.write_sync_err;
                 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
                         + spacewire_stats_grspw.rx_rmap_header_crc_err;
                 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
                         + spacewire_stats_grspw.rx_rmap_data_crc_err;
                 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
                         + spacewire_stats_grspw.early_ep;
                 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
                         + spacewire_stats_grspw.invalid_address;
                 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
                         +  spacewire_stats_grspw.rx_eep_err;
                 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
                         + spacewire_stats_grspw.rx_truncated;
                 //spacewire_stats.tx_link_err;
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
                 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
                 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb;
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb;
                 housekeeping_packet.hk_lfr_dpu_spw_header_crc = (unsigned char) spacewire_stats.rx_rmap_header_crc_err;
                 housekeeping_packet.hk_lfr_dpu_spw_data_crc = (unsigned char) spacewire_stats.rx_rmap_data_crc_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
             }
             int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = apbuart_regs->ctrl & APBUART_CTRL_REG_MASK_DB;
                 PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 return 0;
             }
             int set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
                 return 0;
             }
             //************
             // RTEMS TASKS
             rtems_task stat_task(rtems_task_argument argument)
             {
                 int i;
                 int j;
                 i = 0;
                 j = 0;
                 PRINTF("in STAT *** \n")
                 while(1){
                     rtems_task_wake_after(1000);
                     PRINTF1("%d\n", j)
-                    if (i == 2) {
+                    if (i == CPU_USAGE_REPORT_PERIOD) {
-                        #ifdef PRINT_TASK_STATISTICS
+            //            #ifdef PRINT_TASK_STATISTICS
-                        rtems_cpu_usage_report();
+            //            rtems_cpu_usage_report();
-                        rtems_cpu_usage_reset();
+            //            rtems_cpu_usage_reset();
-                        #endif
+            //            #endif
                         i = 0;
                     }
                     else i++;
                     j++;
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
-                int result;
                 rtems_status_code status;
+                spw_ioctl_pkt_send spw_ioctl_send;
+                spw_ioctl_send.hlen = 0;
+                spw_ioctl_send.hdr = NULL;
+                spw_ioctl_send.dlen = sizeof(spw_ioctl_send);
+                spw_ioctl_send.data = (char*) &housekeeping_packet;
+                spw_ioctl_send.options = 0;
                 PRINTF("in HOUS ***\n")
                 if (rtems_rate_monotonic_ident( HK_name, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( HK_name, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
                     }
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
-                housekeeping_packet.reserved = 0x00;
+                housekeeping_packet.reserved = DEFAULT_RESERVED;
-                housekeeping_packet.userApplication = 0x00;
+                housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_HK >> 8);
                 housekeeping_packet.packetID[1] = (unsigned char) (TM_PACKET_ID_HK);
-                housekeeping_packet.packetSequenceControl[0] = 0xc0;
+                housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                housekeeping_packet.packetSequenceControl[1] = 0x00;
+                housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
-                housekeeping_packet.packetLength[0] = 0x00;
+                housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
-                housekeeping_packet.packetLength[1] = 0x77;
+                housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
-                housekeeping_packet.dataFieldHeader[0] = 0x10;
+                housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
-                housekeeping_packet.dataFieldHeader[1] = TM_TYPE_HK;
+                housekeeping_packet.serviceType = TM_TYPE_HK;
-                housekeeping_packet.dataFieldHeader[2] = TM_SUBTYPE_HK;
+                housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
-                housekeeping_packet.dataFieldHeader[3] = TM_DESTINATION_ID_GROUND;
+                housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
                 }
                 else {
                     PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_period *** code %d\n", status);
                     }
                     else {
-                        housekeeping_packet.dataFieldHeader[4] = (unsigned char) (time_management_regs->coarse_time>>24);
+                        housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
-                        housekeeping_packet.dataFieldHeader[5] = (unsigned char) (time_management_regs->coarse_time>>16);
+                        housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
-                        housekeeping_packet.dataFieldHeader[6] = (unsigned char) (time_management_regs->coarse_time>>8);
+                        housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
-                        housekeeping_packet.dataFieldHeader[7] = (unsigned char) (time_management_regs->coarse_time);
+                        housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
-                        housekeeping_packet.dataFieldHeader[8] = (unsigned char) (time_management_regs->fine_time>>8);
+                        housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
-                        housekeeping_packet.dataFieldHeader[9] = (unsigned char) (time_management_regs->fine_time);
+                        housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         housekeeping_packet.sid = SID_HK;
                         update_spacewire_statistics();
                         // SEND PACKET
-                        result = write ( fdSPW, &housekeeping_packet, LEN_TM_LFR_HK);
+                        //result = write( fdSPW, &housekeeping_packet, LEN_TM_LFR_HK);
-                        if (status == -1) {
+                        status =  rtems_message_queue_send( misc_id[1], &spw_ioctl_send, sizeof(spw_ioctl_send));
-                            while (true) {
+                        if (status != RTEMS_SUCCESSFUL) {
-                                if (status != RTEMS_SUCCESSFUL) {
+                            PRINTF1("in HOUS *** ERR %d\n", (int) status)
-                                    result = write ( fdSPW, &housekeeping_packet, LEN_TM_LFR_HK);
-                                    PRINTF("x")
-                                    sched_yield();
-                                else {
-                                    PRINTF("\n")
-                                    break;
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 printf( "rtems_task_delete returned with status of %d.\n", status );
                 exit( 1 );
             }
+            rtems_task send_task( rtems_task_argument argument)
+            {
+                rtems_status_code status;       // RTEMS status code
+                spw_ioctl_pkt_send spw_ioctl_send_CWF;  // incoming spw_ioctl_pkt_send structure
+                size_t size;                            // size of the incoming TC packet
+                PRINTF("in SEND *** \n")
+                while(1)
+                {
+                    status = rtems_message_queue_receive(misc_id[1], (char*) &spw_ioctl_send_CWF, &size,
+                                                         RTEMS_WAIT, RTEMS_NO_TIMEOUT);
+                    if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
+                    else
+                    {
+                        status = write_spw(&spw_ioctl_send_CWF);
+                        if (status != RTEMS_SUCCESSFUL) {
+                            PRINTF("in SEND *** TRAFFIC JAM\n")
+                        }
+                    }
+                }
+            }

src/tc_handler.c +196 -214

             #include <tc_handler.h>
             #include <fsw_params.h>
             char *DumbMessages[6] = {"in DUMB *** default",                                             // RTEMS_EVENT_0
                                 "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
                                 "in DUMB *** waveforms_isr",                                            // RTEMS_EVENT_2
                                 "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
                                 "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
                                 "in DUMB *** waveforms_simulator_isr"                                   // RTEMS_EVENT_5
             };
             unsigned char currentTC_LEN_RCV[2]; //  SHALL be equal to the current TC packet estimated packet length field
             unsigned char currentTC_COMPUTED_CRC[2];
             unsigned int currentTC_LEN_RCV_AsUnsignedInt;
             unsigned int currentTM_length;
             unsigned char currentTC_processedFlag;
             unsigned int lookUpTableForCRC[256];
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void initLookUpTableForCRC( void )
             {
                 unsigned int i;
                 unsigned int tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) {
                         tmp = tmp ^ 0x1021;
                     }
                     if((i & 2) != 0) {
                         tmp = tmp ^ 0x2042;
                     }
                     if((i & 4) != 0) {
                         tmp = tmp ^ 0x4084;
                     }
                     if((i & 8) != 0) {
                         tmp = tmp ^ 0x8108;
                     }
                     if((i & 16) != 0) {
                         tmp = tmp ^ 0x1231;
                     }
                     if((i & 32) != 0) {
                         tmp = tmp ^ 0x2462;
                     }
                     if((i & 64) != 0) {
                         tmp = tmp ^ 0x48c4;
                     }
                     if((i & 128) != 0) {
                         tmp = tmp ^ 0x9188;
                     }
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
+            void updateLFRCurrentMode()
+            {
+                lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
+            }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int TC_acceptance(ccsdsTelecommandPacket_t *TC, unsigned int tc_len_recv)
             {
                 int ret = 0;
                 rtems_status_code status;
-                spw_ioctl_pkt_send spw_ioctl_send;
+                Packet_TM_LFR_TC_EXE_CORRUPTED_t packet;
-                TMHeader_t TM_header;
+                unsigned int parserCode = 0;
-                unsigned int code = 0;
                 unsigned char computed_CRC[2];
-                char data[ PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN ];
+                unsigned int packetLength;
                 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, tc_len_recv + 5 );
-                code = TC_parser( TC, tc_len_recv ) ;
+                parserCode = TC_parser( TC, tc_len_recv ) ;
-                if ( (code == ILLEGAL_APID) | (code == WRONG_LEN_PACKET) | (code == INCOR_CHECKSUM)
+                if ( (parserCode == ILLEGAL_APID) | (parserCode == WRONG_LEN_PACKET) | (parserCode == INCOR_CHECKSUM)
-                    | (code == ILL_TYPE) | (code == ILL_SUBTYPE) | (code == WRONG_APP_DATA) )
+                    | (parserCode == ILL_TYPE) | (parserCode == ILL_SUBTYPE) | (parserCode == WRONG_APP_DATA) )
                 { // generate TM_LFR_TC_EXE_CORRUPTED
-                    // BUILD HEADER
+                    packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];
-                    TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_CORRUPTED,
+                    packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
-                                     &TM_header, TC->sourceID);   // TC source ID
+                    packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
-                    // BUILD DATA
+                    packet.reserved = DEFAULT_RESERVED;
-                    TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
+                    packet.userApplication = CCSDS_USER_APP;
-                    // PREPARE TM SENDING
+                    // PACKET HEADER
-                    spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
+                    packet.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
-                    spw_ioctl_send.hdr = (char*) &TM_header;
+                    packet.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
-                    spw_ioctl_send.dlen = 16;
+                    packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                    spw_ioctl_send.data = data;
+                    packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
+                    packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED >> 8);
+                    packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED     );
+                    // DATA FIELD HEADER
+                    packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
+                    packet.serviceType = TM_TYPE_TC_EXE;
+                    packet.serviceSubType = TM_SUBTYPE_EXE_NOK;
+                    packet.destinationID = TM_DESTINATION_ID_GROUND;
+                    packet.time[0] = (time_management_regs->coarse_time>>24 );
+                    packet.time[1] = (time_management_regs->coarse_time>>16 );
+                    packet.time[2] = (time_management_regs->coarse_time>>8  );
+                    packet.time[3] = (time_management_regs->coarse_time     );
+                    packet.time[4] = (time_management_regs->fine_time>>8    );
+                    packet.time[5] = (time_management_regs->fine_time       );
+                    //
+                    packet.tc_failure_code[0] = (unsigned char) (FAILURE_CODE_CORRUPTED >> 8);
+                    packet.tc_failure_code[1] = (unsigned char) (FAILURE_CODE_CORRUPTED     );
+                    packet.telecommand_pkt_id[0] = TC->packetID[0];
+                    packet.telecommand_pkt_id[1] = TC->packetID[1];
+                    packet.pkt_seq_control[0] = TC->packetSequenceControl[0];
+                    packet.pkt_seq_control[0] = TC->packetSequenceControl[1];
+                    packet.tc_service = TC->serviceType;
+                    packet.tc_subtype = TC->serviceSubType;
+                    packet.pkt_len_rcv_value[0] = TC->packetLength[0];
+                    packet.pkt_len_rcv_value[1] = TC->packetLength[1];
+                    packet.pkt_datafieldsize_cnt[0] = currentTC_LEN_RCV[0];
+                    packet.pkt_datafieldsize_cnt[1] = currentTC_LEN_RCV[1];
+                    packet.rcv_crc[0] = TC->dataAndCRC[packetLength];
+                    packet.rcv_crc[1] = TC->dataAndCRC[packetLength];
+                    packet.computed_crc[0] = computed_CRC[0];
+                    packet.computed_crc[1] = computed_CRC[1];
                     // SEND PACKET
-                    status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                    status = write( fdSPW, (char *) &packet, PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET + 4);
                 }
                 else { // send valid TC to the action launcher
                     status =  rtems_message_queue_send( misc_id[0], TC, tc_len_recv + CCSDS_TC_TM_PACKET_OFFSET + 3);
                     ret = -1;
                 }
                 return ret;
             }
             unsigned char TC_parser(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
             {
                 unsigned char ret = 0;
                 unsigned char pid = 0;
                 unsigned char category = 0;
                 unsigned int length = 0;
                 unsigned char packetType = 0;
                 unsigned char packetSubtype = 0;
                 unsigned char * CCSDSContent = NULL;
                 // APID check *** APID on 2 bytes
                 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category = (TMPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 length = (TMPacket->packetLength[0] * 256) + TMPacket->packetLength[1];
                 packetType = TMPacket->serviceType;
                 packetSubtype = TMPacket->serviceSubType;
                 if ( pid != CCSDS_PROCESS_ID ) {
                     ret = ILLEGAL_APID;
                 }
                 else if ( category != CCSDS_PACKET_CATEGORY ) {
                     ret = ILLEGAL_APID;
                 }
                 else if (length != TC_LEN_RCV ) {   // packet length check
                     ret = WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
                 }
                 else if ( length >= CCSDS_TC_PKT_MAX_SIZE ) {
                     ret = WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
                 }
                 else if ( packetType == TC_TYPE_GEN ){ // service type, subtype and packet length check
                     switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
                         case TC_SUBTYPE_RESET:
                             if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_COMM:
                             if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_NORM:
                             if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_BURST:
                             if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_SBM1:
                             if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_LOAD_SBM2:
                             if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_DUMP:
                             if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_ENTER:
                             if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_UPDT_INFO:
                             if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_EN_CAL:
                             if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         case TC_SUBTYPE_DIS_CAL:
                             if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                                 ret = WRONG_LEN_PACKET;
                             }
                             else {
                                 ret = CCSDS_TM_VALID;
                             }
                             break;
                         default:
                             ret = ILL_SUBTYPE;
                             break;
                     }
                 }
                 else if ( packetType == TC_TYPE_TIME ){
                     if (packetSubtype!=TC_SUBTYPE_UPDT_TIME) {
                         ret = ILL_SUBTYPE;
                     }
                     else if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
                         ret = WRONG_LEN_PACKET;
                     }
                     else {
                         ret = CCSDS_TM_VALID;
                     }
                 }
                 else {
                     ret = ILL_TYPE;
                 }
                 // source ID check // Source ID not documented in the ICD
                 // packet error control, CRC check
                 if ( ret == CCSDS_TM_VALID ) {
                     CCSDSContent = (unsigned char*) TMPacket->packetID;
                     GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                     if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) {
                         ret = INCOR_CHECKSUM;
                     }
                     else if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
                         ret = INCOR_CHECKSUM;
                     }
                     else {
                         ret = CCSDS_TM_VALID;
                     }
                 }
                 return ret;
             }
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int packetLength,
                                            TMHeader_t *TMHeader, unsigned char tc_sid)
             {
                 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TMHeader->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TMHeader->reserved = 0x00;
                 TMHeader->userApplication = 0x00;
                 TMHeader->packetID[0] = 0x0c;
                 TMHeader->packetSequenceControl[0] = 0xc0;
                 TMHeader->packetSequenceControl[1] = 0x00;
                 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
                 TMHeader->packetLength[1] = (unsigned char) packetLength;
                 TMHeader->spare1_pusVersion_spare2 = 0x10;
                 TMHeader->destinationID = TM_DESTINATION_ID_GROUND;    // default destination id
                 switch (tm_type){
                     case(TM_LFR_TC_EXE_OK):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE;
                         TMHeader->serviceType = TM_TYPE_TC_EXE;      // type
                         TMHeader->serviceSubType = TM_SUBTYPE_EXE_OK;   // subtype
                         TMHeader->destinationID = tc_sid;    // destination id
                         break;
                     case(TM_LFR_TC_EXE_ERR):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_TC_EXE;
                         TMHeader->serviceType = TM_TYPE_TC_EXE;      // type
                         TMHeader->serviceSubType = TM_SUBTYPE_EXE_NOK;  // subtype
                         TMHeader->destinationID = tc_sid;
                         break;
                     case(TM_LFR_HK):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_HK;
                         TMHeader->serviceType = TM_TYPE_HK;      // type
                         TMHeader->serviceSubType = TM_SUBTYPE_HK;   // subtype
                         break;
                     case(TM_LFR_SCI):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_NORMAL;
                         TMHeader->serviceType = TM_TYPE_LFR_SCIENCE; // type
                         TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE;  // subtype
                         break;
                     case(TM_LFR_SCI_SBM):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2;
                         TMHeader->serviceType = TM_TYPE_LFR_SCIENCE;  // type
                         TMHeader->serviceSubType = TM_SUBTYPE_SCIENCE; // subtype
                         break;
                     case(TM_LFR_PAR_DUMP):
                         TMHeader->packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
                         TMHeader->serviceType = TM_TYPE_HK;  // type
                         TMHeader->serviceSubType = TM_SUBTYPE_HK; // subtype
                         break;
                     default:
                         return 0;
                 }
                 TMHeader->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TMHeader->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TMHeader->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TMHeader->time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TMHeader->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TMHeader->time[5] = (unsigned char) (time_management_regs->fine_time);
                 return LFR_SUCCESSFUL;
             }
-            unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
-                unsigned int packetLength;
-                packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];
-                switch (SID){
-                    case (SID_NOT_EXE):
-                        break;
-                    case (SID_NOT_IMP):
-                        data[0] = (unsigned char) (SID_NOT_IMP >> 8);
-                        data[1] = (unsigned char) SID_NOT_IMP;
-                        data[2] = TC->packetID[0];
-                        data[3] = TC->packetID[1];
-                        data[4] = TC->packetSequenceControl[0];
-                        data[5] = TC->packetSequenceControl[1];
-                        data[6] = TC->serviceType; // type
-                        data[7] = TC->serviceSubType; // subtype
-                        break;
-                    case (SID_EXE_ERR):
-                        break;
-                    case (SID_EXE_CORR):
-                        data[0] = (unsigned char) (SID_EXE_CORR >> 8);
-                        data[1] = (unsigned char) SID_EXE_CORR;
-                        data[2] = TC->packetID[0];
-                        data[3] = TC->packetID[1];
-                        data[4] = TC->packetSequenceControl[0];
-                        data[5] = TC->packetSequenceControl[1];
-                        data[6] = TC->serviceType; // type
-                        data[7] = TC->serviceSubType; // subtype
-                        data[8] = currentTC_LEN_RCV[0];
-                        data[9] = currentTC_LEN_RCV[1];
-                        data[10] = TC->packetLength[0];
-                        data[11] = TC->packetLength[1];
-                        data[12] = TC->dataAndCRC[packetLength];
-                        data[13] = TC->dataAndCRC[packetLength+1];
-                        data[14] = computed_CRC[0];
-                        data[15] = computed_CRC[1];
-                        break;
-                    default:
-                        return 0;
-                return 1;
-            int create_message_queue( void )
-                rtems_status_code status;
-                misc_name[0] = rtems_build_name( 'Q', 'U', 'E', 'U' );
-                status = rtems_message_queue_create( misc_name[0], ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
-                                                             RTEMS_FIFO | RTEMS_LOCAL, &misc_id[0] );
-                if (status!=RTEMS_SUCCESSFUL) {
-                    PRINTF("in create_message_queue *** error creating message queue\n")
-                return 0;
             //***********
             // RTEMS TASK
             rtems_task recv_task( rtems_task_argument unused )
             {
                 int len = 0;
                 unsigned int i = 0;
                 unsigned int data_length = 0;
                 ccsdsTelecommandPacket_t currentTC;
                 char data[100];
                 for(i=0; i<100; i++) data[i] = 0;
                 PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF("In RECV *** last read call returned -1\n")
                         //if (rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL) {
                         //    PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
                         //}
                         //if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL) {
                         //    PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
                         //}
                     }
                     else {
                         PRINTF1("Got pck of length %d\n", len+1)
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("In RECV *** packet lenght too short\n")
                         }
                         else {
                             currentTC_LEN_RCV[0] = 0x00;
                             currentTC_LEN_RCV[1] = (unsigned char) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); //  build the corresponding packet size field
                             currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             // CHECK THE TC AND BUILD THE APPROPRIATE TM
                             data_length = TC_acceptance(&currentTC, currentTC_LEN_RCV_AsUnsignedInt);
                             if (data_length!=-1)
                             {
                             }
                         }
                     }
                 }
             }
             rtems_task actn_task( rtems_task_argument unused )
             {
                 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
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 PRINTF("in ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive(misc_id[0], (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     if (status!=RTEMS_SUCCESSFUL) PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
-                                result = action_default( &TC );
+                                result = action_reset( &TC );
+                                close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
-                                result = action_load_comm( &TC );
+                                result = action_load_common_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
-                                result = action_load_norm( &TC );
+                                result = action_load_normal_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
-                                result = action_load_burst( &TC );
+                                result = action_load_burst_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
-                                result = action_load_sbm1( &TC );
+                                result = action_load_sbm1_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
-                                result = action_load_sbm2( &TC );
+                                result = action_load_sbm2_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
-                                result = action_dump( &TC );
+                                result = action_dump_par( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
-                                result = action_enter( &TC );
+                                result = action_enter_mode( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
-                                result = action_updt_info( &TC );
+                                result = action_update_info( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_enable_calibration( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_disable_calibration( &TC );
                                 close_action( &TC, result );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
-                                result = action_updt_time( &TC );
+                                result = action_update_time( &TC );
+                                close_action( &TC, result );
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3 | RTEMS_EVENT_4 | RTEMS_EVENT_5,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<32; i++)
                     {
                         if ( ((intEventOut >> i) & 0x0001) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             printf("in DUMB *** time = coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
-            int action_default(ccsdsTelecommandPacket_t *TC)
+            int action_reset(ccsdsTelecommandPacket_t *TC)
             {
-                rtems_status_code status;
+                send_tm_lfr_tc_exe_not_implemented( TC );
-                TMHeader_t header;
-                spw_ioctl_pkt_send spw_ioctl_send;
-                unsigned char data[10];
-                TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED,
-                                 &header, TC->sourceID);
-                spw_ioctl_send.hlen = TM_HEADER_LEN + 4;
-                spw_ioctl_send.hdr = (char *) &header;
-                spw_ioctl_send.dlen = 8;
-                spw_ioctl_send.data = (char *) data;
-                spw_ioctl_send.options = 0;
-                data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8);
-                data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED;
-                data[2] = TC->packetID[0];
-                data[3] = TC->packetID[1];
-                data[4] = TC->packetSequenceControl[0];
-                data[5] = TC->packetSequenceControl[1];
-                data[6] = TC->serviceType;      // type
-                data[7] = TC->serviceSubType;   // subtype
-                // SEND DATA
-                status = write_spw(&spw_ioctl_send);
-                if (status != RTEMS_SUCCESSFUL)
-                    PRINTF("ERR *** in action_default *** send TM packet\n")
                 return LFR_DEFAULT;
             }
-            int action_enter(ccsdsTelecommandPacket_t *TC)
+            int action_load_common_par(ccsdsTelecommandPacket_t *TC)
-                rtems_status_code status;
-                unsigned char requestedMode;
-                requestedMode = TC->dataAndCRC[1];
-                printf("try to enter mode %d\n", requestedMode);
-                status = transition_validation(requestedMode);
-                if ( status == LFR_SUCCESSFUL ) {
-                    if ( (housekeeping_packet.lfr_status_word[0] & 0xf0) != LFR_MODE_STANDBY)
-                        status = stop_current_mode();
-                    if (status != RTEMS_SUCCESSFUL)
-                        PRINTF("ERR *** in action_enter *** stop_current_mode\n")
-                    status = enter_mode(requestedMode, TC);
-                else
-                    PRINTF("ERR *** in action_enter *** transition rejected\n")
-                    send_tm_lfr_tc_exe_not_executable( TC );
-                return status;
-            int action_load_comm(ccsdsTelecommandPacket_t *TC)
             {
                 parameter_dump_packet.unused0 =  TC->dataAndCRC[0];
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
                 set_wfp_data_shaping(parameter_dump_packet.bw_sp0_sp1_r0_r1);
                 return LFR_SUCCESSFUL;
             }
-            int action_load_norm(ccsdsTelecommandPacket_t *TC)
+            int action_load_normal_par(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_NORMAL ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[1];
                     parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[2];
                     parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[3];
                     parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[4];
                     parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[5];
                     parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[6];
                     parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[7];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
-            int action_load_burst(ccsdsTelecommandPacket_t *TC)
+            int action_load_burst_par(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_BURST ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
-            int action_load_sbm1(ccsdsTelecommandPacket_t *TC)
+            int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM1 ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
-            int action_load_sbm2(ccsdsTelecommandPacket_t *TC)
+            int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_SBM2 ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
-            int action_dump(ccsdsTelecommandPacket_t *TC)
+            int action_dump_par(ccsdsTelecommandPacket_t *TC)
             {
                 int status;
                 // send parameter dump packet
                 status = write(fdSPW, (char *) &parameter_dump_packet,
                                PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + 4);
                 if (status == -1)
                 {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                     status = RTEMS_UNSATISFIED;
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
-            int action_updt_info(ccsdsTelecommandPacket_t *TC) {
+            int action_enter_mode(ccsdsTelecommandPacket_t *TC)
+            {
+                rtems_status_code status;
+                unsigned char requestedMode;
+                requestedMode = TC->dataAndCRC[1];
+                printf("try to enter mode %d\n", requestedMode);
+            #ifdef PRINT_TASK_STATISTICS
+                if (requestedMode != LFR_MODE_STANDBY)
+                {
+                    rtems_cpu_usage_reset();
+                }
+            #endif
+                status = transition_validation(requestedMode);
+                if ( status == LFR_SUCCESSFUL ) {
+                    if ( lfrCurrentMode != LFR_MODE_STANDBY)
+                    {
+                        status = stop_current_mode();
+                    }
+                    if (status != RTEMS_SUCCESSFUL)
+                    {
+                        PRINTF("ERR *** in action_enter *** stop_current_mode\n")
+                    }
+                    status = enter_mode(requestedMode, TC);
+                }
+                else
+                {
+                    PRINTF("ERR *** in action_enter *** transition rejected\n")
+                    send_tm_lfr_tc_exe_not_executable( TC );
+                }
+                return status;
+            }
+            int action_update_info(ccsdsTelecommandPacket_t *TC) {
                 unsigned int val;
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) ) {
-                    send_tm_lfr_tc_exe_not_executable( TC );
+                    send_tm_lfr_tc_exe_not_implemented( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
                             + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                     val++;
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC)
             {
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_STANDBY) | (lfrMode == LFR_MODE_BURST) | (lfrMode == LFR_MODE_SBM2) ) {
                     send_tm_lfr_tc_exe_not_executable( TC );
                     result = LFR_DEFAULT;
                 }
                 else {
                     send_tm_lfr_tc_exe_not_implemented( TC );
                     result = LFR_DEFAULT;
                 }
                 return result;
             }
-            int action_updt_time(ccsdsTelecommandPacket_t *TC)
+            int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
-                //time_management_regs->ctrl = time_management_regs->ctrl | 1;
+                time_management_regs->ctrl = time_management_regs->ctrl | 1;
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int transition_validation(unsigned char requestedMode)
             {
                 int status;
-                unsigned char lfrMode;
-                lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
-                    if ( lfrMode == LFR_MODE_STANDBY ) {
+                    if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
-                    if ( lfrMode == LFR_MODE_NORMAL ) {
+                    if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
-                    if ( lfrMode == LFR_MODE_BURST ) {
+                    if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
-                    if ( lfrMode == LFR_MODE_SBM1 ) {
+                    if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
-                    if ( lfrMode == LFR_MODE_SBM2 ) {
+                    if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             int stop_current_mode()
             {
                 rtems_status_code status;
                 unsigned char lfrMode;
                 status = RTEMS_SUCCESSFUL;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4; // get the current mode
                 // mask all IRQ lines related to signal processing
                 LEON_Mask_interrupt( IRQ_SM );                  // mask spectral matrices interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_SM );                  // clear spectral matrices interrupt (coming from the timer VHDL IP)
             #ifdef GSA
                 LEON_Mask_interrupt( IRQ_WF );                  // mask waveform interrupt (coming from the timer VHDL IP)
                 LEON_Clear_interrupt( IRQ_WF );                  // clear waveform interrupt (coming from the timer VHDL IP)
                 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
             #else
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );     // clear waveform picker interrupt
+                LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
+                LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );     // clear spectral matrix interrupt
             #endif
+                //**********************
                 // suspend several tasks
                 if (lfrMode != LFR_MODE_STANDBY) {
                     suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF("ERR *** in stop_current_mode *** suspending tasks\n")
                 }
+                //*************************
                 // initialize the registers
             #ifdef GSA
             #else
-                waveform_picker_regs->burst_enable = 0x00;      // initialize
+                reset_wfp_burst_enable();   // reset burst and enable bits
+                reset_wfp_status();         // reset all the status bits
             #endif
                 return status;
             }
             int enter_mode(unsigned char mode, ccsdsTelecommandPacket_t *TC )
             {
                 rtems_status_code status;
+                status = RTEMS_UNSATISFIED;
+                housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
+                lfrCurrentMode = mode;
                 switch(mode){
                 case LFR_MODE_STANDBY:
                     status = enter_standby_mode( TC );
                     break;
                 case LFR_MODE_NORMAL:
                     status = enter_normal_mode( TC );
                     break;
                 case LFR_MODE_BURST:
                     status = enter_burst_mode( TC );
                     break;
                 case LFR_MODE_SBM1:
                     status = enter_sbm1_mode( TC );
                     break;
                 case LFR_MODE_SBM2:
                     status = enter_sbm2_mode( TC );
                     break;
                 default:
                     status = RTEMS_UNSATISFIED;
                 }
-                if (status == RTEMS_SUCCESSFUL)
+                if (status != RTEMS_SUCCESSFUL)
                 {
-                    housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
+                    PRINTF("in enter_mode *** ERR\n")
+                    status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
-            int enter_standby_mode(ccsdsTelecommandPacket_t *TC)
+            int enter_standby_mode()
             {
+                reset_waveform_picker_regs();
+            #ifdef PRINT_TASK_STATISTICS
+                rtems_cpu_usage_report();
+            #endif
                 return LFR_SUCCESSFUL;
             }
-            int enter_normal_mode( ccsdsTelecommandPacket_t *TC )
+            int enter_normal_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
             #ifdef GSA
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR );
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_WF );
                 LEON_Unmask_interrupt( IRQ_WF );
                 //
                 set_local_nb_interrupt_f0_MAX();
                 LEON_Clear_interrupt( IRQ_SM ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
                 LEON_Unmask_interrupt( IRQ_SM );
             #else
+                //****************
                 // waveform picker
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_NORMAL);
+                //****************
                 // spectral matrix
-                //
                 set_local_nb_interrupt_f0_MAX();
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // the IRQ_SM seems to be incompatible with the IRQ_WF on the xilinx board
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
                 spectral_matrix_regs->config = 0x01;
                 spectral_matrix_regs->status = 0x00;
             #endif
                 return status;
             }
-            int enter_burst_mode(ccsdsTelecommandPacket_t *TC)
+            int enter_burst_mode()
             {
                 rtems_status_code status;
                 unsigned char lfrMode;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 status = restart_science_tasks();
             #ifdef GSA
+                LEON_Unmask_interrupt( IRQ_SM );
             #else
-                    LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
+                LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
-                    LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
+                LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
-                    reset_waveform_picker_regs();
+                reset_waveform_picker_regs();
-                    set_wfp_burst_enable_register(LFR_MODE_BURST);
+                set_wfp_burst_enable_register(LFR_MODE_BURST);
-                    waveform_picker_regs->burst_enable = 0x40;  // [0100 0000] burst f2, f1, f0 enable f3 f2 f1 f0
-                    waveform_picker_regs->burst_enable =  waveform_picker_regs->burst_enable | 0x04;
-                    waveform_picker_regs->status = 0x00;
             #endif
-                LEON_Unmask_interrupt( IRQ_SM );
                 return status;
             }
-            int enter_sbm1_mode(ccsdsTelecommandPacket_t *TC)
+            int enter_sbm1_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm1_nb_cwf_max();
                 reset_local_sbm1_nb_cwf_sent();
             #ifdef GSA
+                LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM1);
-                waveform_picker_regs->status = 0x00;
              #endif
-                LEON_Unmask_interrupt( IRQ_SM );
                 return status;
             }
-            int enter_sbm2_mode(ccsdsTelecommandPacket_t *TC)
+            int enter_sbm2_mode()
             {
                 rtems_status_code status;
                 status = restart_science_tasks();
                 set_local_sbm2_nb_cwf_max();
                 reset_local_sbm2_nb_cwf_sent();
             #ifdef GSA
+                LEON_Unmask_interrupt( IRQ_SM );
             #else
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register(LFR_MODE_SBM2);
-                waveform_picker_regs->status = 0x00;
             #endif
-                LEON_Unmask_interrupt( IRQ_SM );
                 return status;
             }
             int restart_science_tasks()
             {
-                rtems_status_code status;
+                rtems_status_code status[6];
+                rtems_status_code ret;
-                status = rtems_task_restart( Task_id[TASKID_AVF0], 0 );
+                ret = RTEMS_SUCCESSFUL;
-                if (status == RTEMS_SUCCESSFUL) {
+                status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
-                    status = rtems_task_restart( Task_id[TASKID_BPF0], 0 );
+                status[1] = rtems_task_restart( Task_id[TASKID_BPF0],1 );
-                    if (status == RTEMS_SUCCESSFUL) {
+                status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
-                        status = rtems_task_restart( Task_id[TASKID_WFRM], 0 );
+                status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
-                        if (status == RTEMS_SUCCESSFUL) {
+                status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
-                            status = rtems_task_restart( Task_id[TASKID_CWF3], 0 );
+                status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
+                if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
+                     (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
+                {
+                    ret = RTEMS_UNSATISFIED;
+                    PRINTF("in restart_science_tasks *** ERR\n")
                 }
-                return status;
+                return ret;
             }
             int suspend_science_tasks()
             {
-                rtems_status_code status;
+                rtems_status_code status[6];
+                rtems_status_code ret;
+                ret = RTEMS_SUCCESSFUL;
-                status = rtems_task_suspend( Task_id[TASKID_AVF0] );
+                status[0] = rtems_task_suspend( Task_id[TASKID_AVF0] );
-                if (status == RTEMS_SUCCESSFUL) {
+                status[1] = rtems_task_suspend( Task_id[TASKID_BPF0] );
-                    status = rtems_task_suspend( Task_id[TASKID_BPF0] );
+                status[2] = rtems_task_suspend( Task_id[TASKID_WFRM] );
-                    if (status == RTEMS_SUCCESSFUL) {
+                status[3] = rtems_task_suspend( Task_id[TASKID_CWF3] );
-                        status = rtems_task_suspend( Task_id[TASKID_WFRM] );
+                status[4] = rtems_task_suspend( Task_id[TASKID_CWF2] );
-                        if (status == RTEMS_SUCCESSFUL) {
+                status[5] = rtems_task_suspend( Task_id[TASKID_CWF1] );
-                            status = rtems_task_suspend( Task_id[TASKID_CWF3] );
+                if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
+                     (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
+                {
+                    ret = RTEMS_UNSATISFIED;
+                    PRINTF("in suspend_science_tasks *** ERR\n")
                 }
-                return status;
+                return ret;
             }
             //****************
             // CLOSING ACTIONS
             int send_tm_lfr_tc_exe_success(ccsdsTelecommandPacket_t *TC)
             {
+                int ret;
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[4];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_OK, PACKET_LENGTH_TC_EXE_SUCCESS,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = TC->packetID[0];
                 data[1] = TC->packetID[1];
                 data[2] = TC->packetSequenceControl[0];
                 data[3] = TC->packetSequenceControl[1];
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 4;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
-                status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                //status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
+                status =  rtems_message_queue_send( misc_id[1], &spw_ioctl_send, sizeof(spw_ioctl_send));
+                if (status != RTEMS_SUCCESSFUL) {
+                    PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
+                    ret = LFR_DEFAULT;
+                }
-                return LFR_SUCCESSFUL;
+                return ret;
             }
             int send_tm_lfr_tc_exe_not_executable(ccsdsTelecommandPacket_t *TC)
             {
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[10];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = (char) (FAILURE_CODE_NOT_EXECUTABLE >> 8);
                 data[1] = (char) FAILURE_CODE_NOT_EXECUTABLE;
                 data[2] = TC->packetID[0];
                 data[3] = TC->packetID[1];
                 data[4] = TC->packetSequenceControl[0];
                 data[5] = TC->packetSequenceControl[1];
                 data[6] = TC->serviceType;      // type of the rejected TC
                 data[7] = TC->serviceSubType;   // subtype of the rejected TC
                 data[8] = housekeeping_packet.lfr_status_word[0];
                 data[6] = housekeeping_packet.lfr_status_word[1];
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 10;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
                 return LFR_SUCCESSFUL;
             }
             int send_tm_lfr_tc_exe_not_implemented(ccsdsTelecommandPacket_t *TC)
             {
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[8];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = (char) (FAILURE_CODE_NOT_IMPLEMENTED >> 8);
                 data[1] = (char) FAILURE_CODE_NOT_IMPLEMENTED;
                 data[2] = TC->packetID[0];
                 data[3] = TC->packetID[1];
                 data[4] = TC->packetSequenceControl[0];
                 data[5] = TC->packetSequenceControl[1];
                 data[6] = TC->serviceType;      // type of the rejected TC
                 data[7] = TC->serviceSubType;   // subtype of the rejected TC
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 8;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
                 return LFR_SUCCESSFUL;
             }
             int send_tm_lfr_tc_exe_error(ccsdsTelecommandPacket_t *TC)
             {
                 rtems_status_code status;
                 TMHeader_t TM_header;
                 char data[8];
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TM_build_header( TM_LFR_TC_EXE_ERR, PACKET_LENGTH_TC_EXE_ERROR,
                                  &TM_header,
                                  TC->sourceID);   // TC source ID
                 data[0] = (char) (FAILURE_CODE_ERROR >> 8);
                 data[1] = (char) FAILURE_CODE_ERROR;
                 data[2] = TC->packetID[0];
                 data[3] = TC->packetID[1];
                 data[4] = TC->packetSequenceControl[0];
                 data[5] = TC->packetSequenceControl[1];
                 data[6] = TC->serviceType;      // type of the rejected TC
                 data[7] = TC->serviceSubType;   // subtype of the rejected TC
                 // filling the structure for the spacewire transmission
                 spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                 spw_ioctl_send.hdr = (char*) &TM_header;
                 spw_ioctl_send.dlen = 8;
                 spw_ioctl_send.data = data;
                 spw_ioctl_send.options = 0;
                 // SEND DATA
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
                 return LFR_SUCCESSFUL;
             }
             void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC)
             {
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result)
             {
                 unsigned int val = 0;
                 if (result == LFR_SUCCESSFUL)
                 {
-                    send_tm_lfr_tc_exe_success( TC );
+                    if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) ) )
+                    {
+                        send_tm_lfr_tc_exe_success( TC );
+                    }
                     update_last_TC_exe( TC );
                     val = housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_exe_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
                 else
                 {
                     update_last_TC_rej( TC );
                     val = housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] * 256 + housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1];
                     val++;
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_dpu_rej_tc_lfr_cnt[1] = (unsigned char) (val);
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }

src/wf_handler.c +458 -466

This diff has been collapsed as it changes many lines, (924 lines changed) Show them Hide them
	@@ -1,826 +1,818
	1	#include <wf_handler.h>	1	#include <wf_handler.h>
	2		2
			3	Header_TM_LFR_SCIENCE_SWF_t headerSWF_F0_F1_F2[3][7];
			4	Header_TM_LFR_SCIENCE_CWF_t headerCWF_F1[7];
			5	Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_BURST[7];
			6	Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM1[7];
			7	Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3[7];
			8
			9	unsigned char doubleSendCWF1 = 0;
			10	unsigned char doubleSendCWF2 = 0;
			11
	3	rtems_isr waveforms_isr( rtems_vector_number vector )	12	rtems_isr waveforms_isr( rtems_vector_number vector )
	4	{	13	{
	5	unsigned char lfrMode;
	6	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
	7		14
	8	#ifdef GSA	15	#ifdef GSA
	9	#else	16	#else
	10	if ( (lfrMode != LFR_MODE_STANDBY) & (lfrMode != LFR_MODE_BURST) )	17	if ( (lfrCurrentMode == LFR_MODE_NORMAL)
			18	\|\| (lfrCurrentMode == LFR_MODE_SBM1) \|\| (lfrCurrentMode == LFR_MODE_SBM2) )
	11	{ // in modes other than STANDBY and BURST, send the CWF_F3 data	19	{ // in modes other than STANDBY and BURST, send the CWF_F3 data
	12	if ((waveform_picker_regs->status & 0x08) == 0x08){ // f3 is full	20	if ((waveform_picker_regs->status & 0x08) == 0x08){ // [1000] f3 is full
	13	// (1) change the receiving buffer for the waveform picker	21	// (1) change the receiving buffer for the waveform picker
	14	if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {	22	if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
	15	waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_bis);	23	waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_bis);
	16	}	24	}
	17	else {	25	else {
	18	waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);	26	waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3);
	19	}	27	}
	20	// (2) send an event for the waveforms transmission	28	// (2) send an event for the waveforms transmission
	21	if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_~~MODE_NORMAL_CWF_F3~~ ) != RTEMS_SUCCESSFUL) {	29	if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
	22	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );	30	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	23	}	31	}
	24	waveform_picker_regs->status = waveform_picker_regs->status & 0x~~000~~7; // reset ~~the~~ f3 ~~full~~ bit to 0	32	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
	25	}	33	}
	26	}	34	}
	27	#endif	35	#endif
	28		36
	29	switch(lfrMode)	37	switch(lfrCurrentMode)
	30	{	38	{
	31	//********	39	//********
	32	// STANDBY	40	// STANDBY
	33	case(LFR_MODE_STANDBY):	41	case(LFR_MODE_STANDBY):
	34	break;	42	break;
	35		43
	36	//******	44	//******
	37	// NORMAL	45	// NORMAL
	38	case(LFR_MODE_NORMAL):	46	case(LFR_MODE_NORMAL):
	39	#ifdef GSA	47	#ifdef GSA
	40	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")	48	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
	41	#else	49	#else
	42	if ( (waveform_picker_regs->~~burst_enable~~ & 0x7) == 0x0 ){ ~~// if no channel is enable~~	50	if ( (waveform_picker_regs->status & 0x7) == 0x7 ){ // [0111] f2 f1 and f0 are full
			51	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
	43	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );	52	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	44	}	53	}
	45	else {	54	}
	46	if ( (waveform_picker_regs->status & 0x7) == 0x7 ){ // f2 f1 and f0 are full	55	waveform_picker_regs->status = waveform_picker_regs->status & 0xf888; // [1111 1000 1000 1000] f2, f1, f0 bits =0
	47	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable & 0x08;
	48	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
	49	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	50	}
	51	}
	52	}
	53	#endif	56	#endif
	54	break;	57	break;
	55		58
	56	//******	59	//******
	57	// BURST	60	// BURST
	58	case(LFR_MODE_BURST):	61	case(LFR_MODE_BURST):
	59	#ifdef GSA	62	#ifdef GSA
	60	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")	63	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
	61	#else	64	#else
	62	if (waveform_picker_regs->~~burst_enable~~ == 0x44) {	65	if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
	63	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {	66	// (1) change the receiving buffer for the waveform picker
	64	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2~~_bis~~);	67	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
	65	}	68	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
	66	~~else~~ {	69	}
	67	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);	70	else {
	68	}	71	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
	69	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
	70	PRINTF("in waveforms_isr *** Error sending event to WFRM\n")
	71	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	72	}
	73	}	72	}
	74	waveform_picker_regs->status = 0x00;	73	// (2) send an event for the waveforms transmission
			74	if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
			75	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
			76	}
			77	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
			78	}
	75	#endif	79	#endif
	76	break;	80	break;
	77		81
	78	//*****	82	//*****
	79	// SBM1	83	// SBM1
	80	case(LFR_MODE_SBM1):	84	case(LFR_MODE_SBM1):
	81	#ifdef GSA	85	#ifdef GSA
	82	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")	86	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
	83	#else	87	#else
	84	if ((waveform_picker_regs->status & 0x02) == 0x02){ // [0010] check the f1 full bit	88	if ((waveform_picker_regs->status & 0x02) == 0x02){ // [0010] check the f1 full bit
	85	// (1) change the receiving buffer for the waveform picker	89	// (1) change the receiving buffer for the waveform picker
	86	if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {	90	if ( param_local.local_sbm1_nb_cwf_sent == (param_local.local_sbm1_nb_cwf_max-1) )
	87	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis);	91	{
	88	}	92	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_norm);
	89	~~else~~ {	93	}
	90	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);	94	else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1_norm )
	91	}	95	{
	92	// (2) send an event for the waveforms transmission	96	doubleSendCWF1 = 1;
	93	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 ) != RTEMS_SUCCESSFUL) {	97	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
	94	PRINTF("in waveforms_isr *** Error sending event to WFRM\n")	98	}
	95	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );	99	else if ( waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1 ) {
	96	}	100	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1_bis);
	97	waveform_picker_regs->status = waveform_picker_regs->status & 0x000d; // reset the f1 full bit to 0
	98	}	101	}
	99	if ( ( (waveform_picker_regs->status & 0x05) == 0x05 ) ) { // [0101] check the f2 and f0 full bit	102	else {
	100	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {	103	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1);
	101	PRINTF("in waveforms_isr *** Error sending event to WFRM\n")	104	}
	102	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );	105	// (2) send an event for the waveforms transmission
	103	}	106	if (rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 ) != RTEMS_SUCCESSFUL) {
	104	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x05; // [0101] // enable f2 and f0	107	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	105	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // set to 0 the bits related to f2 and f0
	106	}	108	}
			109	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bit = 0
			110	}
			111	if ( ( (waveform_picker_regs->status & 0x05) == 0x05 ) ) { // [0101] check the f2 and f0 full bit
			112	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
			113	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
			114	}
			115	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2 and f0 bits = 0
			116	reset_local_sbm1_nb_cwf_sent();
			117	}
	107		118
	108	#endif	119	#endif
	109	break;	120	break;
	110		121
	111	//*****	122	//*****
	112	// SBM2	123	// SBM2
	113	case(LFR_MODE_SBM2):	124	case(LFR_MODE_SBM2):
	114	#ifdef GSA	125	#ifdef GSA
	115	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")	126	PRINTF("in waveform_isr *** unexpected waveform picker interruption\n")
	116	#else	127	#else
	117	if ((waveform_picker_regs->status & 0x04) == 0x04){ // check the f2 full bit	128	if ((waveform_picker_regs->status & 0x04) == 0x04){ // [0100] check the f2 full bit
	118	// (1) change the receiving buffer for the waveform picker	129	// (1) change the receiving buffer for the waveform picker
	119	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {	130	if ( waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2 ) {
	120	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);	131	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2_bis);
	121	}	132	}
	122	else {	133	else {
	123	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);	134	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2);
	124	}	135	}
	125	// (2) send an event for the waveforms transmission	136	// (2) send an event for the waveforms transmission
	126	if (rtems_event_send( Task_id[TASKID_~~WFRM~~], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {	137	if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
	127	PRINTF("in waveforms_isr *** Error sending event to WFRM\n")	138	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	128	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	129	}
	130	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1011]
	131	}	139	}
	132	if ( ( (waveform_picker_regs->status & 0x03) == 0x03 ) ) { // [0011] f3 f2 f1 f0, check the f2 and f0 full bit	140	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
	133	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {	141	}
	134	PRINTF("in waveforms_isr *** Error sending event to WFRM\n")	142	if ( ( (waveform_picker_regs->status & 0x03) == 0x03 ) ) { // [0011] f3 f2 f1 f0, f1 and f0 are full
	135	rtems_event_send( Task_id[TASKID_~~DUMB~~], RTEMS_EVENT_2 );	143	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 ) != RTEMS_SUCCESSFUL) {
	136	}	144	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	137	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x03; // [0011] // enable f2 and f0
	138	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // set to 0 the bits related to f1 and f0
	139	}	145	}
			146	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
			147	doubleSendCWF2 = 1;
			148	reset_local_sbm2_nb_cwf_sent();
			149	}
	140	#endif	150	#endif
	141	break;	151	break;
	142		152
	143	//********	153	//********
	144	// DEFAULT	154	// DEFAULT
	145	default:	155	default:
	146	break;	156	break;
	147	}	157	}
	148	}	158	}
	149		159
	150	rtems_isr waveforms_simulator_isr( rtems_vector_number vector )	160	rtems_isr waveforms_simulator_isr( rtems_vector_number vector )
	151	{	161	{
	152	unsigned char lfrMode;	162	unsigned char lfrMode;
	153	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;	163	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
	154		164
	155	switch(lfrMode) {	165	switch(lfrMode) {
	156	case (LFR_MODE_STANDBY):	166	case (LFR_MODE_STANDBY):
	157	break;	167	break;
	158	case (LFR_MODE_NORMAL):	168	case (LFR_MODE_NORMAL):
	159	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {	169	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
	160	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_5 );	170	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_5 );
	161	}	171	}
	162	break;	172	break;
	163	case (LFR_MODE_BURST):	173	case (LFR_MODE_BURST):
	164	break;	174	break;
	165	case (LFR_MODE_SBM1):	175	case (LFR_MODE_SBM1):
	166	break;	176	break;
	167	case (LFR_MODE_SBM2):	177	case (LFR_MODE_SBM2):
	168	break;	178	break;
	169	}	179	}
	170	}	180	}
	171		181
	172	rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP	182	rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
	173	{	183	{
	174	unsigned int i;
	175	unsigned int intEventOut;
	176	spw_ioctl_pkt_send spw_ioctl_send_SWF;
	177	spw_ioctl_pkt_send spw_ioctl_send_CWF;
	178	rtems_event_set event_out;	184	rtems_event_set event_out;
	179	Header_TM_LFR_SCIENCE_SWF_t headerSWF;
	180	Header_TM_LFR_SCIENCE_CWF_t headerCWF;
	181		185
	182	init_header_snapshot_wf( &~~headerSWF~~ );	186	init_header_snapshot_wf_table( SID_NORM_SWF_F0 );
	183	init_header_continuous_wf( &headerCWF );	187	init_header_snapshot_wf_table( SID_NORM_SWF_F1 );
	184		188	init_header_snapshot_wf_table( SID_NORM_SWF_F2 );
	185	// BUILD THE PACKET HEADERS
	186	spw_ioctl_send_SWF.hlen = TM_HEADER_LEN + 4 + 12; // + 4 is for the protocole extra header, + 12 is for the auxiliary header
	187	spw_ioctl_send_SWF.hdr = (char*) &headerSWF;
	188	spw_ioctl_send_SWF.options = 0;
	189
	190	spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
	191	spw_ioctl_send_CWF.hdr = (char*) &headerCWF;
	192	spw_ioctl_send_CWF.options = 0;
	193		189
	194	init_waveforms();	190	init_waveforms();
	195		191
	196	PRINTF("in WFRM ***\n")	192	PRINTF("in WFRM ***\n")
	197		193
	198	while(1){	194	while(1){
	199	// wait for an RTEMS_EVENT	195	// wait for an RTEMS_EVENT
	200	rtems_event_receive(RTEMS_EVENT_0 \| RTEMS_EVENT_1 \| RTEMS_EVENT_2 \| ~~RTEMS_EVENT_3~~ \| ~~RTEMS_EVENT_4~~,	196	rtems_event_receive(RTEMS_EVENT_MODE_NORMAL \| RTEMS_EVENT_MODE_SBM1 \| RTEMS_EVENT_MODE_SBM2,
	201	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);	197	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
	202	intEventOut = (unsigned int) event_out;
	203	for (i = 0; i< 5; i++) {
	204	if ( ( (intEventOut >> i) & 0x0001) != 0 ) {
	205		198
	206	switch(i) {	199	switch( event_out) {
	207		200
	208	case(~~LFR~~_MODE_NORMAL):	201	case RTEMS_EVENT_MODE_NORMAL:
	209	send_waveform_~~norm~~( &~~headerSWF~~, &~~spw_ioctl_send_SWF~~ );	202	send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0);
	210	break;	203	send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1);
			204	send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2);
			205	#ifdef GSA
			206	waveform_picker_regs->status = waveform_picker_regs->status & 0xf888; // [1111 1000 1000 1000] f2, f1, f0 bits =0
			207	#endif
			208	break;
	211		209
	212	case(~~LFR_MODE_BURST~~):	210	case RTEMS_EVENT_MODE_SBM1:
	213	send_waveform_burst( &headerCWF, &spw_ioctl_send_CWF );	211	send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0);
	214	break;	212	send_waveform_SWF(wf_snap_f1_norm, SID_NORM_SWF_F1);
	215		213	send_waveform_SWF(wf_snap_f2, SID_NORM_SWF_F2);
	216	case(LFR_MODE_SBM1):
	217	send_waveform_sbm1( &headerCWF, &spw_ioctl_send_CWF );
	218	#ifdef GSA	214	#ifdef GSA
	219	#else	215	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffaaa; // [1111 1010 1010 1010] f2, f0 bits = 0
	220	if ( param_local.local_sbm1_nb_cwf_sent == (param_local.local_sbm1_nb_cwf_max-1) ) {
	221	// send the f1 buffer as a NORM snapshot
	222	if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {
	223	send_waveform_SWF( &headerSWF, wf_snap_f1_bis, SID_NORM_SWF_F1, &spw_ioctl_send_SWF );
	224	}
	225	else {
	226	send_waveform_SWF( &headerSWF, wf_snap_f1, SID_NORM_SWF_F1, &spw_ioctl_send_SWF );
	227	}
	228	reset_local_sbm1_nb_cwf_sent();
	229	}
	230	else {
	231	param_local.local_sbm1_nb_cwf_sent ++;
	232	}
	233	#endif	216	#endif
	234	break;	217	break;
	235		218
	236	case(~~LFR~~_MODE_SBM2):	219	case RTEMS_EVENT_MODE_SBM2:
	237	send_waveform_sbm2( &headerCWF, &spw_ioctl_send_CWF );	220	send_waveform_SWF(wf_snap_f0, SID_NORM_SWF_F0);
			221	send_waveform_SWF(wf_snap_f1, SID_NORM_SWF_F1);
	238	#ifdef GSA	222	#ifdef GSA
	239	#else	223	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffccc; // [1111 1100 1100 1100] f1, f0 bits = 0
	240	if ( param_local.local_sbm2_nb_cwf_sent == (param_local.local_sbm2_nb_cwf_max-1) ) {
	241	// send the f2 buffer as a NORM snapshot
	242	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
	243	send_waveform_SWF( &headerSWF, wf_snap_f2_bis, SID_NORM_SWF_F2, &spw_ioctl_send_SWF );
	244	}
	245	else {
	246	send_waveform_SWF( &headerSWF, wf_snap_f2, SID_NORM_SWF_F2, &spw_ioctl_send_SWF );
	247	}
	248	reset_local_sbm2_nb_cwf_sent();
	249	}
	250	else {
	251	param_local.local_sbm2_nb_cwf_sent ++;
	252	}
	253	#endif	224	#endif
	254	break;	225	break;
			226
			227	default:
			228	break;
			229	}
	255		230
	256	default:	231	#ifdef GSA
	257	break;	232	// irq processed, reset the related register of the timer unit
	258	}	233	gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl = gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl \| 0x00000010;
	259	}	234	// clear the interruption
	260	}	235	LEON_Unmask_interrupt( IRQ_WF );
			236	#endif
	261	}	237	}
	262	}	238	}
	263		239
	264	rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP	240	rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
	265	{	241	{
	266	spw_ioctl_pkt_send spw_ioctl_send_CWF;
	267	rtems_event_set event_out;	242	rtems_event_set event_out;
	268	Header_TM_LFR_SCIENCE_CWF_t headerCWF;
	269		243
	270	init_header_continuous_wf( &headerCWF );	244	init_header_continuous_wf_table( SID_NORM_CWF_F3, headerCWF_F3 );
	271
	272	// BUILD THE PACKET HEADER
	273	spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
	274	spw_ioctl_send_CWF.hdr = (char*) &headerCWF;
	275	spw_ioctl_send_CWF.options = 0;
	276		245
	277	PRINTF("in CWF3 ***\n")	246	PRINTF("in CWF3 ***\n")
	278		247
	279	while(1){	248	while(1){
	280	// wait for an RTEMS_EVENT	249	// wait for an RTEMS_EVENT
	281	rtems_event_receive( RTEMS_EVENT_5,	250	rtems_event_receive( RTEMS_EVENT_0,
	282	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);	251	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
	283	PRINTF("send CWF F3 \n")	252	PRINTF("send CWF F3 \n")
	284	send_waveform_norm_cwf_f3( &headerCWF, &spw_ioctl_send_CWF );	253	#ifdef GSA
			254	#else
			255	if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
			256	send_waveform_CWF( wf_cont_f3_bis, SID_NORM_CWF_F3, headerCWF_F3 );
			257	}
			258	else {
			259	send_waveform_CWF( wf_cont_f3, SID_NORM_CWF_F3, headerCWF_F3 );
			260	}
			261	#endif
			262	}
			263	}
			264
			265	rtems_task cwf2_task(rtems_task_argument argument) // ONLY USED IN BURST AND SBM2
			266	{
			267	rtems_event_set event_out;
			268
			269	init_header_continuous_wf_table( SID_BURST_CWF_F2, headerCWF_F2_BURST );
			270	init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM1 );
			271
			272	PRINTF("in CWF2 ***\n")
			273
			274	while(1){
			275	// wait for an RTEMS_EVENT
			276	rtems_event_receive( RTEMS_EVENT_MODE_BURST \| RTEMS_EVENT_MODE_SBM2,
			277	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
			278	if (event_out == RTEMS_EVENT_MODE_BURST)
			279	{
			280	// F2
			281	#ifdef GSA
			282	#else
			283	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
			284	send_waveform_CWF( wf_snap_f2_bis, SID_BURST_CWF_F2, headerCWF_F2_BURST );
			285	}
			286	else {
			287	send_waveform_CWF( wf_snap_f2, SID_BURST_CWF_F2, headerCWF_F2_BURST );
			288	}
			289	#endif
			290	}
			291	else if (event_out == RTEMS_EVENT_MODE_SBM2)
			292	{
			293	#ifdef GSA
			294	#else
			295	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
			296	send_waveform_CWF( wf_snap_f2_bis, SID_SBM2_CWF_F2, headerCWF_F2_SBM1 );
			297	}
			298	else {
			299	send_waveform_CWF( wf_snap_f2, SID_SBM2_CWF_F2, headerCWF_F2_SBM1 );
			300	}
			301	#endif
			302	}
			303	else
			304	{
			305	PRINTF1("in CWF2 *** ERR mode = %d\n", lfrCurrentMode)
			306	}
			307	}
			308	}
			309
			310	rtems_task cwf1_task(rtems_task_argument argument) // ONLY USED IN SBM1
			311	{
			312	rtems_event_set event_out;
			313
			314	init_header_continuous_wf_table( SID_SBM1_CWF_F1, headerCWF_F1 );
			315
			316	PRINTF("in CWF1 ***\n")
			317
			318	while(1){
			319	// wait for an RTEMS_EVENT
			320	rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
			321	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
			322	if (event_out == RTEMS_EVENT_MODE_SBM1)
			323	{
			324	#ifdef GSA
			325	#else
			326	if (doubleSendCWF1 == 1)
			327	{
			328	doubleSendCWF1 = 0;
			329	send_waveform_CWF( wf_snap_f1_norm, SID_SBM1_CWF_F1, headerCWF_F1 );
			330	}
			331	else if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {
			332	send_waveform_CWF( wf_snap_f1_bis, SID_SBM1_CWF_F1, headerCWF_F1 );
			333	}
			334	else {
			335	send_waveform_CWF( wf_snap_f1, SID_SBM1_CWF_F1, headerCWF_F1);
			336	}
			337	param_local.local_sbm1_nb_cwf_sent ++;
			338	#endif
			339	}
			340	else
			341	{
			342	PRINTF1("in CWF1 *** ERR mode = %d\n", lfrCurrentMode)
			343	}
	285	}	344	}
	286	}	345	}
	287		346
	288	//******************	347	//******************
	289	// general functions	348	// general functions
	290	void init_waveforms( void )	349	void init_waveforms( void )
	291	{	350	{
	292	int i = 0;	351	int i = 0;
	293		352
	294	for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)	353	for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
	295	{	354	{
	296	//***	355	//***
	297	// F0	356	// F0
	298	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777; //	357	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777; //
	299	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x22221111; //	358	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x22221111; //
	300	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0x44443333; //	359	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0x44443333; //
	301		360
	302	//***	361	//***
	303	// F1	362	// F1
	304	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x22221111;	363	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x22221111;
	305	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x44443333;	364	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x44443333;
	306	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0xaaaa0000;	365	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0xaaaa0000;
	307		366
	308	//***	367	//***
	309	// F2	368	// F2
	310	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x44443333;	369	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x44443333;
	311	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x22221111;	370	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET ] = 0x22221111;
	312	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0xaaaa0000;	371	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET ] = 0xaaaa0000;
	313		372
	314	//***	373	//***
	315	// F3	374	// F3
	316	//wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;	375	//wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;
	317	//wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;	376	//wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;
	318	//wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;	377	//wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;
	319	}	378	}
	320	}	379	}
	321		380
	322	void init_header_snapshot_wf( Header_TM_LFR_SCIENCE_SWF_t *header)	381	int init_header_snapshot_wf_table( unsigned int sid)
	323	{	382	{
	324	header->targetLogicalAddress = CCSDS_DESTINATION_ID;	383	unsigned char i;
	325	header->protocolIdentifier = CCSDS_PROTOCOLE_ID;	384	unsigned char j;
	326	header->reserved = 0x00;	385
	327	header->userApplication = CCSDS_USER_APP;	386	j = 0;
	328	header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL >> 8);	387
	329	header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL);	388	switch(sid)
	330	header->packetSequenceControl[0] = 0xc0;	389	{
	331	header->packetSequenceControl[1] = 0x00;	390	case SID_NORM_SWF_F0:
	332	header->packetLength[0] = 0x00;	391	j = 0;
	333	header->packetLength[1] = 0x00;	392	break;
	334	// DATA FIELD HEADER	393	case SID_NORM_SWF_F1:
	335	header->spare1_pusVersion_spare2 = 0x10;	394	j = 1;
	336	header->serviceType = TM_TYPE_LFR_SCIENCE; // service type	395	break;
	337	header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype	396	case SID_NORM_SWF_F2:
	338	header->destinationID = TM_DESTINATION_ID_GROUND;	397	j = 2;
	339	// AUXILIARY DATA HEADER	398	break;
	340	header->sid = 0x00;	399	default:
	341	header->hkBIA = 0x1f;	400	return LFR_DEFAULT;
	342	header->pktCnt = 0x07; // PKT_CNT	401	}
	343	header->pktNr = 0x00; // PKT_NR	402
	344	header->time[0] = 0x00;	403	for (i=0; i<7; i++)
	345	header->time[0] = 0x00;	404	{
	346	header->time[0] = 0x00;	405	headerSWF_F0_F1_F2[j][i].targetLogicalAddress = CCSDS_DESTINATION_ID;
	347	header->time[0] = 0x00;	406	headerSWF_F0_F1_F2[j][i].protocolIdentifier = CCSDS_PROTOCOLE_ID;
	348	header->time[0] = 0x00;	407	headerSWF_F0_F1_F2[j][i].reserved = DEFAULT_RESERVED;
	349	header->time[0] = 0x00;	408	headerSWF_F0_F1_F2[j][i].userApplication = CCSDS_USER_APP;
	350	header->blkNr[0] = 0x00; // BLK_NR MSB	409	headerSWF_F0_F1_F2[j][i].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL >> 8);
	351	header->blkNr[1] = 0x00; // BLK_NR LSB	410	headerSWF_F0_F1_F2[j][i].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL);
			411	if (i == 0)
			412	{
			413	headerSWF_F0_F1_F2[j][i].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
			414	headerSWF_F0_F1_F2[j][i].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
			415	headerSWF_F0_F1_F2[j][i].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340 );
			416	headerSWF_F0_F1_F2[j][i].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
			417	headerSWF_F0_F1_F2[j][i].blkNr[1] = (unsigned char) (BLK_NR_340 );
			418	}
			419	else if (i == 6)
			420	{
			421	headerSWF_F0_F1_F2[j][i].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
			422	headerSWF_F0_F1_F2[j][i].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_8 >> 8);
			423	headerSWF_F0_F1_F2[j][i].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_8 );
			424	headerSWF_F0_F1_F2[j][i].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
			425	headerSWF_F0_F1_F2[j][i].blkNr[1] = (unsigned char) (BLK_NR_8 );
			426	}
			427	else
			428	{
			429	headerSWF_F0_F1_F2[j][i].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
			430	headerSWF_F0_F1_F2[j][i].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_340 >> 8);
			431	headerSWF_F0_F1_F2[j][i].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_340 );
			432	headerSWF_F0_F1_F2[j][i].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
			433	headerSWF_F0_F1_F2[j][i].blkNr[1] = (unsigned char) (BLK_NR_340 );
			434	}
			435	headerSWF_F0_F1_F2[j][i].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
			436	headerSWF_F0_F1_F2[j][i].pktCnt = DEFAULT_PKTCNT; // PKT_CNT
			437	headerSWF_F0_F1_F2[j][i].pktNr = i+1; // PKT_NR
			438	// DATA FIELD HEADER
			439	headerSWF_F0_F1_F2[j][i].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
			440	headerSWF_F0_F1_F2[j][i].serviceType = TM_TYPE_LFR_SCIENCE; // service type
			441	headerSWF_F0_F1_F2[j][i].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
			442	headerSWF_F0_F1_F2[j][i].destinationID = TM_DESTINATION_ID_GROUND;
			443	// AUXILIARY DATA HEADER
			444	headerSWF_F0_F1_F2[j][i].sid = sid;
			445	headerSWF_F0_F1_F2[j][i].hkBIA = DEFAULT_HKBIA;
			446	headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
			447	headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
			448	headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
			449	headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
			450	headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
			451	headerSWF_F0_F1_F2[j][i].time[0] = 0x00;
			452	}
			453	return LFR_SUCCESSFUL;
	352	}	454	}
	353		455
	354	~~void~~ init_header_continuous_wf( Header_TM_LFR_SCIENCE_CWF_t *header)	456	int init_header_continuous_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
	355	{	457	{
	356	header->targetLogicalAddress = CCSDS_DESTINATION_ID;	458	unsigned int i;
	357	header->protocolIdentifier = CCSDS_PROTOCOLE_ID;	459
	358	header->reserved = 0x00;	460	for (i=0; i<7; i++)
	359	header->userApplication = CCSDS_USER_APP;	461	{
	360	header->packetID[0] = 0x00;	462	headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
	361	header->packetID[1] = 0x00;	463	headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
	362	header->packetSequenceControl[0] = 0xc0;	464	headerCWF[ i ].reserved = DEFAULT_RESERVED;
	363	header->packetSequenceControl[1] = 0x00;	465	headerCWF[ i ].userApplication = CCSDS_USER_APP;
	364	header->packetLength[0] = 0x00;	466	headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2 >> 8);
	365	header->packetLength[1] = 0x00;	467	headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2);
	366	// DATA FIELD HEADER	468	if (i == 0)
	367	header->spare1_pusVersion_spare2 = 0x10;	469	{
	368	header->serviceType = TM_TYPE_LFR_SCIENCE; // service type	470	headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_FIRST;
	369	header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype	471	headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
	370	header->destinationID = TM_DESTINATION_ID_GROUND;	472	headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340 );
	371	// AUXILIARY DATA HEADER	473	headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
	372	header->sid = 0x00;	474	headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340 );
	373	header->hkBIA = 0x1f;	475	}
	374	header->time[0] = 0x00;	476	else if (i == 6)
	375	header->time[0] = 0x00;	477	{
	376	header->time[0] = 0x00;	478	headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_LAST;
	377	header->time[0] = 0x00;	479	headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_8 >> 8);
	378	header->time[0] = 0x00;	480	headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_8 );
	379	header->time[0] = 0x00;	481	headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_8 >> 8);
	380	header->blkNr[0] = 0x00; // BLK_NR MSB	482	headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_8 );
	381	header->blkNr[1] = 0x00; // BLK_NR LSB	483	}
			484	else
			485	{
			486	headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_CONTINUATION;
			487	headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_340 >> 8);
			488	headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_340 );
			489	headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_340 >> 8);
			490	headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_340 );
			491	}
			492	headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
			493	// PKT_CNT
			494	// PKT_NR
			495	// DATA FIELD HEADER
			496	headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
			497	headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
			498	headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
			499	headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
			500	// AUXILIARY DATA HEADER
			501	headerCWF[ i ].sid = sid;
			502	headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
			503	headerCWF[ i ].time[0] = 0x00;
			504	headerCWF[ i ].time[0] = 0x00;
			505	headerCWF[ i ].time[0] = 0x00;
			506	headerCWF[ i ].time[0] = 0x00;
			507	headerCWF[ i ].time[0] = 0x00;
			508	headerCWF[ i ].time[0] = 0x00;
			509	}
			510	return LFR_SUCCESSFUL;
	382	}	511	}
	383		512
	384	void reset_waveforms( void )	513	void reset_waveforms( void )
	385	{	514	{
	386	int i = 0;	515	int i = 0;
	387		516
	388	for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)	517	for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
	389	{	518	{
	390	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x10002000;	519	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x10002000;
	391	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;	520	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
	392	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;	521	wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
	393		522
	394	//***	523	//***
	395	// F1	524	// F1
	396	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x1000f000;	525	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x1000f000;
	397	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0xf0001000;	526	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0xf0001000;
	398	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;	527	wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x40008000;
	399		528
	400	//***	529	//***
	401	// F2	530	// F2
	402	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x40008000;	531	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET] = 0x40008000;
	403	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;	532	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET] = 0x20001000;
	404	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x10002000;	533	wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET] = 0x10002000;
	405		534
	406	//***	535	//***
	407	// F3	536	// F3
	408	/wf_cont_f3[ i NB_WORDS_SWF_BLK + 0 ] = build_value( i, i ); // v and 1	537	/wf_cont_f3[ i NB_WORDS_SWF_BLK + 0 ] = build_value( i, i ); // v and 1
	409	wf_cont_f3[ i* NB_WORDS_SWF_BLK + 1 ] = build_value( i, i ); // e2 and b1	538	wf_cont_f3[ i* NB_WORDS_SWF_BLK + 1 ] = build_value( i, i ); // e2 and b1
	410	wf_cont_f3[ i* NB_WORDS_SWF_BLK + 2 ] = build_value( i, i ); // b2 and b3*/	539	wf_cont_f3[ i* NB_WORDS_SWF_BLK + 2 ] = build_value( i, i ); // b2 and b3*/
	411	}	540	}
	412	}	541	}
	413		542
	414	void send_waveform_SWF( Header_TM_LFR_SCIENCE_SWF_t header, volatile int waveform,	543	int send_waveform_SWF( volatile int *waveform, unsigned int sid )
	415	unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send)
	416	{	544	{
	417	unsigned int i = 0;	545	unsigned int i;
	418	unsigned int ~~length~~ = 0;	546	unsigned int j;
			547	int ret;
	419	rtems_status_code status;	548	rtems_status_code status;
			549	spw_ioctl_pkt_send spw_ioctl_send_SWF;
	420		550
	421	header->sid = (unsigned char) sid;	551	spw_ioctl_send_SWF.hlen = TM_HEADER_LEN + 4 + 12; // + 4 is for the protocole extra header, + 12 is for the auxiliary header
			552	spw_ioctl_send_SWF.options = 0;
	422		553
	423	for (i=0; i<7; i++) // send waveform	554	j = 0;
			555	ret = LFR_DEFAULT;
			556
			557	switch(sid)
	424	{	558	{
	425	header->pktNr = (unsigned char) i+1; // PKT_NR	559	case SID_NORM_SWF_F0:
	426	// BUILD THE DATA	560	j = 0;
	427	if (i==6) {	561	break;
	428	spw_ioctl_send->dlen = 8 * NB_BYTES_SWF_BLK;	562	case SID_NORM_SWF_F1:
	429	length = TM_LEN_SCI_SWF_8;	563	j = 1;
	430	header->blkNr[0] = 0x00; // BLK_NR MSB	564	break;
	431	header->blkNr[1] = 0x08; // BLK_NR LSB	565	case SID_NORM_SWF_F2:
	432	}	566	j = 2;
	433	~~else~~ {	567	break;
	434	spw_ioctl_send->dlen = 340 * NB_BYTES_SWF_BLK;	568	default:
	435	length = TM_LEN_SCI_SWF_340;	569	ret = LFR_DEFAULT;
	436	header->blkNr[0] = 0x01; // BLK_NR MSB	570	break;
	437	header->blkNr[1] = 0x54; // BLK_NR LSB
	438	}
	439	spw_ioctl_send->data = (char) &waveform[ (i 340 * NB_WORDS_SWF_BLK) ];
	440	// BUILD THE HEADER
	441	header->packetLength[0] = (unsigned char) (length>>8);
	442	header->packetLength[1] = (unsigned char) (length);
	443	header->sid = (unsigned char) sid; // SID
	444	// SET PACKET TIME
	445	header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	446	header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	447	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	448	header->time[3] = (unsigned char) (time_management_regs->coarse_time);
	449	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	450	header->time[5] = (unsigned char) (time_management_regs->fine_time);
	451	header->acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	452	header->acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	453	header->acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	454	header->acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
	455	header->acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
	456	header->acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
	457	// SEND PACKET
	458	status = write_spw(spw_ioctl_send);
	459	if (status != RTEMS_SUCCESSFUL) {
	460	while (true) {
	461	if (status != RTEMS_SUCCESSFUL) {
	462	status = write_spw(spw_ioctl_send);
	463	//PRINTF1("%d", i)
	464	sched_yield();
	465	}
	466	else {
	467	//PRINTF("\n")
	468	break;
	469	}
	470	}
	471	}
	472	}	571	}
	473	}
	474
	475	void send_waveform_CWF( Header_TM_LFR_SCIENCE_CWF_t header, volatile int waveform,
	476	unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send)
	477	{
	478	unsigned int i = 0;
	479	unsigned int length = 0;
	480	rtems_status_code status;
	481
	482	header->sid = (unsigned char) sid;
	483		572
	484	for (i=0; i<7; i++) // send waveform	573	for (i=0; i<7; i++) // send waveform
	485	{	574	{
			575	spw_ioctl_send_SWF.data = (char) &waveform[ (i 340 * NB_WORDS_SWF_BLK) ];
			576	spw_ioctl_send_SWF.hdr = (char*) &headerSWF_F0_F1_F2[j][i];
	486	// BUILD THE DATA	577	// BUILD THE DATA
	487	if (i==6) {	578	if (i==6) {
	488	spw_ioctl_send->dlen = 8 * NB_BYTES_SWF_BLK;	579	spw_ioctl_send_SWF.dlen = 8 * NB_BYTES_SWF_BLK;
	489	length = TM_LEN_SCI_CWF_8;
	490	header->blkNr[0] = 0x00; // BLK_NR MSB
	491	header->blkNr[1] = 0x08; // BLK_NR LSB
	492	}	580	}
	493	else {	581	else {
	494	spw_ioctl_send->dlen = 340 * NB_BYTES_SWF_BLK;	582	spw_ioctl_send_SWF.dlen = 340 * NB_BYTES_SWF_BLK;
	495	length = TM_LEN_SCI_CWF_340;
	496	header->blkNr[0] = 0x01; // BLK_NR MSB
	497	header->blkNr[1] = 0x54; // BLK_NR LSB
	498	}
	499	spw_ioctl_send->data = (char) &waveform[ (i 340 * NB_WORDS_SWF_BLK) ];
	500	// BUILD THE HEADER
	501	header->packetLength[0] = (unsigned char) (length>>8);
	502	header->packetLength[1] = (unsigned char) (length);
	503	// SET PACKET TIME
	504	header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	505	header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	506	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	507	header->time[3] = (unsigned char) (time_management_regs->coarse_time);
	508	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	509	header->time[5] = (unsigned char) (time_management_regs->fine_time);
	510	header->acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	511	header->acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	512	header->acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	513	header->acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
	514	header->acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
	515	header->acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
	516	// SEND PACKET
	517	status = write_spw(spw_ioctl_send);
	518	if (status != RTEMS_SUCCESSFUL) {
	519	while (true) {
	520	if (status != RTEMS_SUCCESSFUL) {
	521	status = write_spw(spw_ioctl_send);
	522	//PRINTF1("%d", i)
	523	sched_yield();
	524	}
	525	else {
	526	//PRINTF("\n")
	527	break;
	528	}
	529	}
	530	}	583	}
	531	}	584	// SET PACKET TIME
	532	}	585	headerSWF_F0_F1_F2[j][i].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	533		586	headerSWF_F0_F1_F2[j][i].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	534	void send_waveform_norm(Header_TM_LFR_SCIENCE_SWF_t header, spw_ioctl_pkt_send spw_ioctl_send)	587	headerSWF_F0_F1_F2[j][i].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	535	{	588	headerSWF_F0_F1_F2[j][i].time[3] = (unsigned char) (time_management_regs->coarse_time);
	536	unsigned char lfrMode;	589	headerSWF_F0_F1_F2[j][i].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	537	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;	590	headerSWF_F0_F1_F2[j][i].time[5] = (unsigned char) (time_management_regs->fine_time);
	538		591	headerSWF_F0_F1_F2[j][i].acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	539	header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL >> 8);	592	headerSWF_F0_F1_F2[j][i].acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	540	header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL);	593	headerSWF_F0_F1_F2[j][i].acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	541	// TIME	594	headerSWF_F0_F1_F2[j][i].acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
	542	header->~~time~~[0] = (unsigned char) (time_management_regs->~~coars~~e_time>>24);	595	headerSWF_F0_F1_F2[j][i].acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
	543	header->~~time~~[1] = (unsigned char) (time_management_regs->~~coars~~e_time>>16);	596	headerSWF_F0_F1_F2[j][i].acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
	544	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);	597	// SEND PACKET
	545	header->time[3] = (unsigned char) (time_management_regs->coarse_time);	598	//status = write_spw(&spw_ioctl_send_SWF);
	546	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);	599	status = rtems_message_queue_send( misc_id[1], &spw_ioctl_send_SWF, sizeof(spw_ioctl_send_SWF));
	547	header->time[5] = (unsigned char) (time_management_regs->fine_time);	600	if (status != RTEMS_SUCCESSFUL) {
	548		601	PRINTF2("sid %d, i = %d\n", sid, i)
	549	switch(lfrMode) {	602	ret = LFR_DEFAULT;
	550		603	}
	551	case LFR_MODE_NORMAL:	604	rtems_task_wake_after(TIME_BETWEEN_TWO_SWF_PACKETS); // 300 ms between each packet => 7 * 3 = 21 packets => 6.3 seconds
	552	send_waveform_SWF( header, wf_snap_f0, SID_NORM_SWF_F0, spw_ioctl_send);
	553	send_waveform_SWF( header, wf_snap_f1, SID_NORM_SWF_F1, spw_ioctl_send);
	554	send_waveform_SWF( header, wf_snap_f2, SID_NORM_SWF_F2, spw_ioctl_send);
	555	#ifdef GSA
	556	#else
	557	waveform_picker_regs->status = waveform_picker_regs->status & 0x00;
	558	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x07; // [0111] enable f2 f1 f0
	559	#endif
	560	break;
	561
	562	case LFR_MODE_SBM1:
	563	send_waveform_SWF( header, wf_snap_f0, SID_NORM_SWF_F0, spw_ioctl_send);
	564	// F1 data are sent by the send_waveform_sbm1 function
	565	send_waveform_SWF( header, wf_snap_f2, SID_NORM_SWF_F2, spw_ioctl_send);
	566	break;
	567
	568	case LFR_MODE_SBM2:
	569	send_waveform_SWF( header, wf_snap_f0, SID_NORM_SWF_F0, spw_ioctl_send);
	570	send_waveform_SWF( header, wf_snap_f1, SID_NORM_SWF_F1, spw_ioctl_send);
	571	// F2 data are sent by the send_waveform_sbm2 function
	572	break;
	573
	574	default:
	575	break;
	576	}	605	}
	577		606
	578	#ifdef GSA	607	return ret;
	579	// irq processed, reset the related register of the timer unit
	580	gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl = gptimer_regs->timer[TIMER_WF_SIMULATOR].ctrl \| 0x00000010;
	581	// clear the interruption
	582	LEON_Unmask_interrupt( IRQ_WF );
	583	#endif
	584
	585	}
	586
	587	void send_waveform_norm_cwf_f3(Header_TM_LFR_SCIENCE_CWF_t header, spw_ioctl_pkt_send spw_ioctl_send)
	588	{
	589	header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL >> 8);
	590	header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL);
	591	// TIME
	592	header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	593	header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	594	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	595	header->time[3] = (unsigned char) (time_management_regs->coarse_time);
	596	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	597	header->time[5] = (unsigned char) (time_management_regs->fine_time);
	598
	599	//*******************************
	600	// send continuous waveform at f3
	601	// F3
	602	#ifdef GSA
	603	#else
	604	if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3) {
	605	send_waveform_CWF( header, wf_cont_f3_bis, SID_NORM_CWF_F3, spw_ioctl_send);
	606	}
	607	else {
	608	send_waveform_CWF( header, wf_cont_f3, SID_NORM_CWF_F3, spw_ioctl_send);
	609	}
	610	#endif
	611	}	608	}
	612		609
	613	void send_waveform_burst(Header_TM_LFR_SCIENCE_CWF_t header, spw_ioctl_pkt_send spw_ioctl_send)	610	int send_waveform_CWF( volatile int waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t headerCWF)
	614	{
	615	header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2 >> 8);
	616	header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2);
	617	// TIME
	618	header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
	619	header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	620	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	621	header->time[3] = (unsigned char) (time_management_regs->coarse_time);
	622	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	623	header->time[5] = (unsigned char) (time_management_regs->fine_time);
	624	// ACQUISITION TIME
	625
	626	// F2
	627	#ifdef GSA
	628	#else
	629	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
	630	send_waveform_CWF( header, wf_snap_f2_bis, SID_BURST_CWF_F2, spw_ioctl_send);
	631	}
	632	else {
	633	send_waveform_CWF( header, wf_snap_f2, SID_BURST_CWF_F2, spw_ioctl_send);
	634	}
	635	#endif
	636	}
	637
	638	void send_waveform_sbm1(Header_TM_LFR_SCIENCE_CWF_t header, spw_ioctl_pkt_send spw_ioctl_send)
	639	{	611	{
	640	header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2 >> 8);	612	unsigned int i;
	641	header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2);	613	int ret;
	642	// TIME	614	rtems_status_code status;
	643	header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);	615	spw_ioctl_pkt_send spw_ioctl_send_CWF;
	644	header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
	645	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
	646	header->time[3] = (unsigned char) (time_management_regs->coarse_time);
	647	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
	648	header->time[5] = (unsigned char) (time_management_regs->fine_time);
	649		616
	650	// F1	617	spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
	651	#ifdef GSA	618	spw_ioctl_send_CWF.options = 0;
	652	#else	619
	653	if (waveform_picker_regs->addr_data_f1 == (int) wf_snap_f1) {	620	ret = LFR_DEFAULT;
	654	send_waveform_CWF( header, wf_snap_f1_bis, SID_SBM1_CWF_F1, spw_ioctl_send );
	655	}
	656	else {
	657	send_waveform_CWF( header, wf_snap_f1, SID_SBM1_CWF_F1, spw_ioctl_send );
	658	}
	659	#endif
	660	}
	661		621
	662	void send_waveform_sbm2(Header_TM_LFR_SCIENCE_CWF_t header, spw_ioctl_pkt_send spw_ioctl_send)	622	for (i=0; i<7; i++) // send waveform
	663	{	623	{
	664	header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2 >> 8);	624	int coarseTime = 0x00;
	665	header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_BURST_SBM1_SBM2);	625	int fineTime = 0x00;
	666	// TIME	626	spw_ioctl_send_CWF.data = (char) &waveform[ (i 340 * NB_WORDS_SWF_BLK) ];
	667	header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);	627	spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
	668	header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);	628	// BUILD THE DATA
	669	header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);	629	if (i==6) {
	670	header->time[3] = (unsigned char) (time_management_regs->coarse_time);	630	spw_ioctl_send_CWF.dlen = 8 * NB_BYTES_SWF_BLK;
	671	header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);	631	}
	672	header->time[5] = (unsigned char) (time_management_regs->fine_time);	632	else {
			633	spw_ioctl_send_CWF.dlen = 340 * NB_BYTES_SWF_BLK;
			634	}
			635	// SET PACKET TIME
			636	coarseTime = time_management_regs->coarse_time;
			637	fineTime = time_management_regs->fine_time;
			638	headerCWF[ i ].time[0] = (unsigned char) (coarseTime>>24);
			639	headerCWF[ i ].time[1] = (unsigned char) (coarseTime>>16);
			640	headerCWF[ i ].time[2] = (unsigned char) (coarseTime>>8);
			641	headerCWF[ i ].time[3] = (unsigned char) (coarseTime);
			642	headerCWF[ i ].time[4] = (unsigned char) (fineTime>>8);
			643	headerCWF[ i ].time[5] = (unsigned char) (fineTime);
			644	headerCWF[ i ].acquisitionTime[0] = (unsigned char) (coarseTime>>24);
			645	headerCWF[ i ].acquisitionTime[1] = (unsigned char) (coarseTime>>16);
			646	headerCWF[ i ].acquisitionTime[2] = (unsigned char) (coarseTime>>8);
			647	headerCWF[ i ].acquisitionTime[3] = (unsigned char) (coarseTime);
			648	headerCWF[ i ].acquisitionTime[4] = (unsigned char) (fineTime>>8);
			649	headerCWF[ i ].acquisitionTime[5] = (unsigned char) (fineTime);
			650	// SEND PACKET
			651	//status = write_spw(&spw_ioctl_send_CWF);
			652	status = rtems_message_queue_urgent( misc_id[1], &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
			653	if (status != RTEMS_SUCCESSFUL) {
			654	PRINTF2("sid %d, i = %d\n", sid, i)
			655	ret = LFR_DEFAULT;
			656	}
			657	else
			658	{
			659	sched_yield();
			660	}
			661	if (sid == SID_NORM_CWF_F3)
			662	{
			663	rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
			664	}
			665	}
	673		666
	674	// F2	667	return ret;
	675	#ifdef GSA
	676	#else
	677	if (waveform_picker_regs->addr_data_f2 == (int) wf_snap_f2) {
	678	send_waveform_CWF( header, wf_snap_f2_bis, SID_SBM2_CWF_F2, spw_ioctl_send);
	679	}
	680	else {
	681	send_waveform_CWF( header, wf_snap_f2, SID_SBM2_CWF_F2, spw_ioctl_send);
	682	}
	683	#endif
	684	}	668	}
	685		669
	686	//**************	670	//**************
	687	// wfp registers	671	// wfp registers
	688	void set_wfp_data_shaping()	672	void set_wfp_data_shaping()
	689	{	673	{
	690	unsigned char data_shaping;	674	unsigned char data_shaping;
	691		675
	692	// get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register	676	// get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
	693	// waveform picker : [R1 R0 SP1 SP0 BW]	677	// waveform picker : [R1 R0 SP1 SP0 BW]
	694		678
	695	data_shaping = parameter_dump_packet.bw_sp0_sp1_r0_r1;	679	data_shaping = parameter_dump_packet.bw_sp0_sp1_r0_r1;
	696		680
	697	#ifdef GSA	681	#ifdef GSA
	698	#else	682	#else
	699	waveform_picker_regs->data_shaping =	683	waveform_picker_regs->data_shaping =
	700	( (data_shaping & 0x10) >> 4 ) // BW	684	( (data_shaping & 0x10) >> 4 ) // BW
	701	+ ( (data_shaping & 0x08) >> 2 ) // SP0	685	+ ( (data_shaping & 0x08) >> 2 ) // SP0
	702	+ ( (data_shaping & 0x04) ) // SP1	686	+ ( (data_shaping & 0x04) ) // SP1
	703	+ ( (data_shaping & 0x02) << 2 ) // R0	687	+ ( (data_shaping & 0x02) << 2 ) // R0
	704	+ ( (data_shaping & 0x01) << 4 ); // R1	688	+ ( (data_shaping & 0x01) << 4 ); // R1
	705	#endif	689	#endif
	706	}	690	}
	707		691
	708	char set_wfp_delta_snapshot()	692	char set_wfp_delta_snapshot()
	709	{	693	{
	710	char ret;	694	char ret;
	711	unsigned int delta_snapshot;	695	unsigned int delta_snapshot;
	712	ret = LFR_DEFAULT;	696	ret = LFR_DEFAULT;
	713		697
	714	delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256	698	delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
	715	+ parameter_dump_packet.sy_lfr_n_swf_p[1];	699	+ parameter_dump_packet.sy_lfr_n_swf_p[1];
	716		700
	717	#ifdef GSA	701	#ifdef GSA
	718	#else	702	#else
	719	unsigned char aux = 0;	703	unsigned char aux = 0;
	720	if ( delta_snapshot < MIN_DELTA_SNAPSHOT )	704	if ( delta_snapshot < MIN_DELTA_SNAPSHOT )
	721	{	705	{
	722	aux = MIN_DELTA_SNAPSHOT;	706	aux = MIN_DELTA_SNAPSHOT;
	723	ret = LFR_DEFAULT;	707	ret = LFR_DEFAULT;
	724	}	708	}
	725	else	709	else
	726	{	710	{
	727	aux = delta_snapshot ;	711	aux = delta_snapshot ;
	728	ret = LFR_SUCCESSFUL;	712	ret = LFR_SUCCESSFUL;
	729	}	713	}
	730	waveform_picker_regs->delta_snapshot = aux; // max 2 bytes	714	waveform_picker_regs->delta_snapshot = aux; // max 2 bytes
	731	#endif	715	#endif
	732		716
	733	return ret;	717	return ret;
	734	}	718	}
	735		719
	736	void set_wfp_burst_enable_register( unsigned char mode)	720	void set_wfp_burst_enable_register( unsigned char mode)
	737	{	721	{
	738	#ifdef GSA	722	#ifdef GSA
	739	#else	723	#else
	740	// [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0	724	// [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
	741	// the burst bits shall be set first, before the enable bits	725	// the burst bits shall be set first, before the enable bits
	742	switch(mode) {	726	switch(mode) {
	743	case(LFR_MODE_NORMAL):	727	case(LFR_MODE_NORMAL):
	744	waveform_picker_regs->burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0	728	waveform_picker_regs->burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
	745	break;	729	break;
	746	case(LFR_MODE_BURST):	730	case(LFR_MODE_BURST):
	747	waveform_picker_regs->burst_enable = 0x40; // [0100 0000] f2 burst enabled	731	waveform_picker_regs->burst_enable = 0x40; // [0100 0000] f2 burst enabled
	748	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x04; // [0100] enable f2	732	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x04; // [0100] enable f2
	749	break;	733	break;
	750	case(LFR_MODE_SBM1):	734	case(LFR_MODE_SBM1):
	751	waveform_picker_regs->burst_enable = 0x20; // [0010 0000] f1 burst enabled	735	waveform_picker_regs->burst_enable = 0x20; // [0010 0000] f1 burst enabled
	752	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x0f; // [1111] enable f3 f2 f1 f0	736	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x0f; // [1111] enable f3 f2 f1 f0
	753	break;	737	break;
	754	case(LFR_MODE_SBM2):	738	case(LFR_MODE_SBM2):
	755	waveform_picker_regs->burst_enable = 0x40; // [0100 0000] f2 burst enabled	739	waveform_picker_regs->burst_enable = 0x40; // [0100 0000] f2 burst enabled
	756	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x0f; // [1111] enable f3 f2 f1 f0	740	waveform_picker_regs->burst_enable = waveform_picker_regs->burst_enable \| 0x0f; // [1111] enable f3 f2 f1 f0
	757	break;	741	break;
	758	default:	742	default:
	759	waveform_picker_regs->burst_enable = 0x00; // [0000 0000] no burst enabled, no waveform enabled	743	waveform_picker_regs->burst_enable = 0x00; // [0000 0000] no burst enabled, no waveform enabled
	760	break;	744	break;
	761	}	745	}
	762	#endif	746	#endif
	763	}	747	}
	764		748
	765	void reset_wfp_burst_enable()	749	void reset_wfp_burst_enable()
	766	{	750	{
	767	#ifdef GSA	751	#ifdef GSA
	768	#else	752	#else
	769	waveform_picker_regs->burst_enable = 0x00; // burst f2, f1, f0 enable f3, f2, f1, f0	753	waveform_picker_regs->burst_enable = 0x00; // burst f2, f1, f0 enable f3, f2, f1, f0
	770	#endif	754	#endif
	771	}	755	}
	772		756
			757	void reset_wfp_status()
			758	{
			759	#ifdef GSA
			760	#else
			761	waveform_picker_regs->status = 0x00; // burst f2, f1, f0 enable f3, f2, f1, f0
			762	#endif
			763	}
			764
	773	void reset_waveform_picker_regs()	765	void reset_waveform_picker_regs()
	774	{	766	{
	775	#ifdef GSA	767	#ifdef GSA
	776	#else	768	#else
	777	set_wfp_data_shaping();	769	set_wfp_data_shaping();
	778	reset_wfp_burst_enable();	770	reset_wfp_burst_enable();
	779	waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0); //	771	waveform_picker_regs->addr_data_f0 = (int) (wf_snap_f0); //
	780	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1); //	772	waveform_picker_regs->addr_data_f1 = (int) (wf_snap_f1); //
	781	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2); //	773	waveform_picker_regs->addr_data_f2 = (int) (wf_snap_f2); //
	782	waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3); //	774	waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3); //
	783	set_wfp_delta_snapshot(); // time in seconds between two snapshots	775	set_wfp_delta_snapshot(); // time in seconds between two snapshots
	784	waveform_picker_regs->delta_f2_f1 = 0xffff; // max 4 bytes	776	waveform_picker_regs->delta_f2_f1 = 0xffff; // 0x16800 => 92160 (max 4 bytes)
	785	waveform_picker_regs->delta_f2_f0 = 0x17c00; // max 5 bytes	777	waveform_picker_regs->delta_f2_f0 = 0x17c00; // 97 280 (max 5 bytes)
	786	waveform_picker_regs->nb_burst_available = 0x180; // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets)	778	waveform_picker_regs->nb_burst_available = 0x180; // max 3 bytes, size of the buffer in burst (1 burst = 16 x 4 octets)
	787	waveform_picker_regs->nb_snapshot_param = 0x7ff; // max 3 octets, 2048 - 1	779	waveform_picker_regs->nb_snapshot_param = 0x7ff; // max 3 octets, 2048 - 1
	788	waveform_picker_regs->status = 0x00; //	780	waveform_picker_regs->status = 0x00; //
	789	#endif	781	#endif
	790	}	782	}
	791		783
	792	//*****************	784	//*****************
	793	// local parameters	785	// local parameters
	794	void set_local_sbm1_nb_cwf_max()	786	void set_local_sbm1_nb_cwf_max()
	795	{	787	{
	796	// (2 snapshots of 2048 points per seconds) * (period of the NORM snashots)	788	// (2 snapshots of 2048 points per seconds) * (period of the NORM snashots) - 8 s (duration of the f2 snapshot)
	797	param_local.local_sbm1_nb_cwf_max = 2 * (	789	param_local.local_sbm1_nb_cwf_max = 2 * (
	798	parameter_dump_packet.sy_lfr_n_swf_p[0] * 256	790	parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
	799	+ parameter_dump_packet.sy_lfr_n_swf_p[1]	791	+ parameter_dump_packet.sy_lfr_n_swf_p[1]
	800	);	792	) - 8; // 16 CWF1 parts during 1 SWF2
	801	}	793	}
	802		794
	803	void set_local_sbm2_nb_cwf_max()	795	void set_local_sbm2_nb_cwf_max()
	804	{	796	{
	805	// (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)	797	// (period of the NORM snashots) / (8 seconds per snapshot at f2 = 256 Hz)
	806	param_local.local_sbm2_nb_cwf_max = (	798	param_local.local_sbm2_nb_cwf_max = (
	807	parameter_dump_packet.sy_lfr_n_swf_p[0] * 256	799	parameter_dump_packet.sy_lfr_n_swf_p[0] * 256
	808	+ parameter_dump_packet.sy_lfr_n_swf_p[1]	800	+ parameter_dump_packet.sy_lfr_n_swf_p[1]
	809	)/ 8;	801	)/ 8;
	810	}	802	}
	811		803
	812	void set_local_nb_interrupt_f0_MAX()	804	void set_local_nb_interrupt_f0_MAX()
	813	{	805	{
	814	param_local.local_nb_interrupt_f0_MAX = ( (parameter_dump_packet.sy_lfr_n_asm_p[0]) * 256	806	param_local.local_nb_interrupt_f0_MAX = ( (parameter_dump_packet.sy_lfr_n_asm_p[0]) * 256
	815	+ parameter_dump_packet.sy_lfr_n_asm_p[1] ) * 100;	807	+ parameter_dump_packet.sy_lfr_n_asm_p[1] ) * 100;
	816	}	808	}
	817		809
	818	void reset_local_sbm1_nb_cwf_sent()	810	void reset_local_sbm1_nb_cwf_sent()
	819	{	811	{
	820	param_local.local_sbm1_nb_cwf_sent = 0;	812	param_local.local_sbm1_nb_cwf_sent = 0;
	821	}	813	}
	822		814
	823	void reset_local_sbm2_nb_cwf_sent()	815	void reset_local_sbm2_nb_cwf_sent()
	824	{	816	{
	825	param_local.local_sbm2_nb_cwf_sent = 0;	817	param_local.local_sbm2_nb_cwf_sent = 0;
	826	}	818	}

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