HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r390:1c936ff95146

Added GPL header and documented some more functions

jeandet -

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r390:1c936ff95146

.hgsubstate +1 -1

@@ -1,2 +1,2
1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters	1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
2	7053a75ef0a55a40e950a8302065856f3bd06a26 header/lfr_common_headers	2	f5b83fb540b1cfd5d87c68621fb53f238eb623ae header/lfr_common_headers

EQM/header/grspw.h +24 0

@@ -1,8 +1,32
		1	/*------------------------------------------------------------------------------
		2	-- Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
		3	-- This file is a part of the LFR FSW
		4	-- Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
		5	--
		6	-- This program is free software; you can redistribute it and/or modify
		7	-- it under the terms of the GNU General Public License as published by
		8	-- the Free Software Foundation; either version 2 of the License, or
		9	-- (at your option) any later version.
		10	--
		11	-- This program is distributed in the hope that it will be useful,
		12	-- but WITHOUT ANY WARRANTY; without even the implied warranty of
		13	-- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		14	-- GNU General Public License for more details.
		15	--
		16	-- You should have received a copy of the GNU General Public License
		17	-- along with this program; if not, write to the Free Software
		18	-- Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
		19	-------------------------------------------------------------------------------*/
		20	/*-- Author : Paul Leroy
		21	-- Contact : Alexis Jeandet
		22	-- Mail : alexis.jeandet@lpp.polytechnique.fr
		23	----------------------------------------------------------------------------*/
		24
1	#ifndef GRSPW_H_INCLUDED	25	#ifndef GRSPW_H_INCLUDED
2	#define GRSPW_H_INCLUDED	26	#define GRSPW_H_INCLUDED
3		27
4	int grspw_set_ie( unsigned char value, unsigned int *ctrlReg );	28	int grspw_set_ie( unsigned char value, unsigned int *ctrlReg );
5	int grspw_set_tq( unsigned char value, unsigned int *ctrlReg );	29	int grspw_set_tq( unsigned char value, unsigned int *ctrlReg );
6	int grspw_set_tr( unsigned char value, unsigned int *ctrlReg );	30	int grspw_set_tr( unsigned char value, unsigned int *ctrlReg );
7		31
8	#endif // GRSPW_H_INCLUDED	32	#endif // GRSPW_H_INCLUDED

src/fsw_globals.c +23 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Global variables of the LFR flight software.
              *
              * @file
              * @author P. LEROY
              *
              * Among global variables, there are:
              * - RTEMS names and id.
              * - APB configuration registers.
              * - waveforms global buffers, used by the waveform picker hardware module to store data.
              * - spectral  matrices buffesr, used by the hardware module to store data.
              * - variable related to LFR modes parameters.
              * - the global HK packet buffer.
              * - the global dump parameter buffer.
              *
              */
             #include <rtems.h>
             #include <grspw.h>
             #include "ccsds_types.h"
             #include "grlib_regs.h"
             #include "fsw_params.h"
             #include "fsw_params_wf_handler.h"
             #define NB_OF_MISC_NAMES 5
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[NB_OF_MISC_NAMES] = {0};
             rtems_name  Task_name[CONFIGURE_MAXIMUM_TASKS-1]      = {0};     /* array of task names */
             rtems_id    Task_id[CONFIGURE_MAXIMUM_TASKS-1]        = {0};         /* array of task ids */
             rtems_name timecode_timer_name          = 0;
             rtems_id timecode_timer_id              = RTEMS_ID_NONE;
             rtems_name name_hk_rate_monotonic       = 0;            // name of the HK rate monotonic
             rtems_id HK_id                          = RTEMS_ID_NONE;// id of the HK rate monotonic period
             rtems_name name_avgv_rate_monotonic     = 0;            // name of the AVGV rate monotonic
             rtems_id AVGV_id                        = RTEMS_ID_NONE;// id of the AVGV rate monotonic period
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode = 0;
             unsigned char pa_bia_status_info = 0;
             unsigned char thisIsAnASMRestart = 0;
             unsigned char oneTcLfrUpdateTimeReceived = 0;
             // WAVEFORMS GLOBAL VARIABLES   // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes = 24584
                                             //  97 * 256 = 24832 => delta = 248 bytes = 62 words
             // WAVEFORMS GLOBAL VARIABLES   // 2688 * 3 * 4 + 2 * 4 = 32256 + 8 bytes = 32264
                                             // 127 * 256 = 32512 => delta = 248 bytes = 62 words
             // F0 F1 F2 F3
             volatile int wf_buffer_f0[ NB_RING_NODES_F0 * WFRM_BUFFER ] __attribute__((aligned(0x100))) = {0};
             volatile int wf_buffer_f1[ NB_RING_NODES_F1 * WFRM_BUFFER ] __attribute__((aligned(0x100))) = {0};
             volatile int wf_buffer_f2[ NB_RING_NODES_F2 * WFRM_BUFFER ] __attribute__((aligned(0x100))) = {0};
             volatile int wf_buffer_f3[ NB_RING_NODES_F3 * WFRM_BUFFER ] __attribute__((aligned(0x100))) = {0};
             //***********************************
             // SPECTRAL MATRICES GLOBAL VARIABLES
             // alignment constraints for the spectral matrices buffers => the first data after the time (8 bytes) shall be aligned on 0x00
             volatile int sm_f0[ NB_RING_NODES_SM_F0 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))) = {0};
             volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))) = {0};
             volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100))) = {0};
             // APB CONFIGURATION REGISTERS
             time_management_regs_t          *time_management_regs   = (time_management_regs_t*)         REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t                  *gptimer_regs           = (gptimer_regs_t *)                REGS_ADDR_GPTIMER;
             waveform_picker_regs_0_1_18_t   *waveform_picker_regs   = (waveform_picker_regs_0_1_18_t*)  REGS_ADDR_WAVEFORM_PICKER;
             spectral_matrix_regs_t          *spectral_matrix_regs   = (spectral_matrix_regs_t*)         REGS_ADDR_SPECTRAL_MATRIX;
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet    = {0};
             struct param_local_str param_local                      = {0};
             unsigned int lastValidEnterModeTime                     = {0};
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet                  = {0};
             // message queues occupancy
             unsigned char hk_lfr_q_sd_fifo_size_max = 0;
             unsigned char hk_lfr_q_rv_fifo_size_max = 0;
             unsigned char hk_lfr_q_p0_fifo_size_max = 0;
             unsigned char hk_lfr_q_p1_fifo_size_max = 0;
             unsigned char hk_lfr_q_p2_fifo_size_max = 0;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters_SCIENCE_NORMAL_BURST        __attribute__((aligned(0x4))) = 0;
             unsigned short sequenceCounters_SCIENCE_SBM1_SBM2           __attribute__((aligned(0x4))) = 0;
             unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID]  __attribute__((aligned(0x4))) = {0};
             unsigned short sequenceCounters_TM_DUMP[SEQ_CNT_NB_DEST_ID] __attribute__((aligned(0x4))) = {0};
             unsigned short sequenceCounterHK                            __attribute__((aligned(0x4))) = {0};
             spw_stats grspw_stats                                       __attribute__((aligned(0x4))) = {0};
             // TC_LFR_UPDATE_INFO
             rw_f_t rw_f;
             // TC_LFR_LOAD_FILTER_PAR
             filterPar_t filterPar = {0};
             fbins_masks_t fbins_masks = {0};

src/fsw_init.c +24 -4

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
-            //*************************
-            // GPL reminder to be added
-            //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #include <fsw_params.h>
             #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"
             #include "GscMemoryLPP.hpp"
             void initCache()
             {
                 // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
                 // These should only be read and written using 32-bit LDA/STA instructions.
                 // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
                 // The table below shows the register addresses:
                 //      0x00 Cache control register
                 //      0x04 Reserved
                 //      0x08 Instruction cache configuration register
                 //      0x0C Data cache configuration register
                 // Cache Control Register Leon3 / Leon3FT
                 // 31..30  29   28  27..24  23  22  21  20..19  18  17  16
                 //         RFT  PS  TB      DS  FD  FI  FT          ST  IB
                 // 15  14  13..12  11..10  9..8  7..6  5   4   3..2  1..0
                 // IP  DP  ITE     IDE     DTE   DDE   DF  IF  DCS   ICS
                 unsigned int cacheControlRegister;
                 CCR_resetCacheControlRegister();
                 ASR16_resetRegisterProtectionControlRegister();
                 cacheControlRegister = CCR_getValue();
                 PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
                 PRINTF1("(0) ASR16                        = %x\n", *asr16Ptr);
                 CCR_enableInstructionCache();       // ICS bits
                 CCR_enableDataCache();              // DCS bits
                 CCR_enableInstructionBurstFetch();  // IB  bit
                 faultTolerantScheme();
                 cacheControlRegister = CCR_getValue();
                 PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
                 PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
                 PRINTF("\n");
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 old_isr_handler = NULL;
                 // UART settings
                 enable_apbuart_transmitter();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d-", SW_VERSION_N1)
                 PRINTF1("%d-"   , SW_VERSION_N2)
                 PRINTF1("%d-"   , SW_VERSION_N3)
                 PRINTF1("%d             **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d-", vhdlVersion[1])
                 PRINTF1("%d-"   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_prc0();
                 init_k_coefficients_prc1();
                 init_k_coefficients_prc2();
                 pa_bia_status_info = INIT_CHAR;
                 // initialize all reaction wheels frequencies to NaN
                 rw_f.cp_rpw_sc_rw1_f1 = NAN;
                 rw_f.cp_rpw_sc_rw1_f2 = NAN;
                 rw_f.cp_rpw_sc_rw1_f3 = NAN;
                 rw_f.cp_rpw_sc_rw1_f4 = NAN;
                 rw_f.cp_rpw_sc_rw2_f1 = NAN;
                 rw_f.cp_rpw_sc_rw2_f2 = NAN;
                 rw_f.cp_rpw_sc_rw2_f3 = NAN;
                 rw_f.cp_rpw_sc_rw2_f4 = NAN;
                 rw_f.cp_rpw_sc_rw3_f1 = NAN;
                 rw_f.cp_rpw_sc_rw3_f2 = NAN;
                 rw_f.cp_rpw_sc_rw3_f3 = NAN;
                 rw_f.cp_rpw_sc_rw3_f4 = NAN;
                 rw_f.cp_rpw_sc_rw4_f1 = NAN;
                 rw_f.cp_rpw_sc_rw4_f2 = NAN;
                 rw_f.cp_rpw_sc_rw4_f3 = NAN;
                 rw_f.cp_rpw_sc_rw4_f4 = NAN;
                 // initialize filtering parameters
                 filterPar.spare_sy_lfr_pas_filter_enabled   = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
                 filterPar.sy_lfr_sc_rw_delta_f              = DEFAULT_SY_LFR_SC_RW_DELTA_F;
                 filterPar.sy_lfr_pas_filter_tbad            = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
                 filterPar.sy_lfr_pas_filter_shift           = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
                 filterPar.modulus_in_finetime               = DEFAULT_MODULUS;
                 filterPar.tbad_in_finetime                  = DEFAULT_TBAD;
                 filterPar.offset_in_finetime                = DEFAULT_OFFSET;
                 filterPar.shift_in_finetime                 = DEFAULT_SHIFT;
                 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE  );
                 // waveform picker initialization
                 WFP_init_rings();
                 LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG );    // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 updateLFRCurrentMode( LFR_MODE_STANDBY );
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_timecode_timer();           // create the timer used by timecode_irq_handler
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
                 }
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 set_hk_lfr_sc_potential_flag( true );
                 // start the timer to detect a missing spacewire timecode
                 // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
                 // if a tickout is generated, the timer is restarted
                 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
                 grspw_timecode_callback = &timecode_irq_handler;
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = INIT_CHAR;
                     sequenceCounters_TM_DUMP[i] = INIT_CHAR;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = INIT_CHAR;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    INIT_CHAR;
                 sequenceCounterHK =                     TM_PACKET_SEQ_CTRL_STANDALONE << TM_PACKET_SEQ_SHIFT;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = time_management_regs->ctrl | VAL_SOFTWARE_RESET;  // [0010] software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
                 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_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 Task_name[TASKID_SCRB] = rtems_build_name( 'S', 'C', 'R', 'B' );
                 Task_name[TASKID_CALI] = rtems_build_name( 'C', 'A', 'L', 'I' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
                 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // LINK
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // LOAD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LOAD], TASK_PRIORITY_LOAD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LOAD]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SCRUBBING TASK
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SCRB], TASK_PRIORITY_SCRB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SCRB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVGV
                 {
                     status = rtems_task_create(
                                 Task_name[TASKID_AVGV], TASK_PRIORITY_AVGV, RTEMS_MINIMUM_STACK_SIZE,
                                 RTEMS_DEFAULT_MODES,
                                 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVGV]
                                 );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CALI
                 {
                     status = rtems_task_create(
                                 Task_name[TASKID_CALI], TASK_PRIORITY_CALI, RTEMS_MINIMUM_STACK_SIZE,
                                 RTEMS_DEFAULT_MODES,
                                 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CALI]
                                 );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // LINK
                 {
                     status = rtems_task_start( Task_id[TASKID_LINK], link_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LINK\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVGV
                 {
                     status = rtems_task_start( Task_id[TASKID_AVGV], avgv_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVGV\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SCRUBBING
                 {
                     status = rtems_task_start( Task_id[TASKID_SCRB], scrubbing_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // LOAD
                 {
                     status = rtems_task_start( Task_id[TASKID_LOAD], load_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LOAD\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CALI
                 {
                     status = rtems_task_start( Task_id[TASKID_CALI], calibration_sweep_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LOAD\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the five message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 ret = RTEMS_SUCCESSFUL;
                 queue_id = RTEMS_ID_NONE;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code create_timecode_timer( void )
             {
                 rtems_status_code status;
                 status =  rtems_timer_create( timecode_timer_name, &timecode_timer_id );
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in create_timer_timecode *** ERR creating SPTC timer, %d\n", status)
                 }
                 else
                 {
                     PRINTF("in create_timer_timecode *** OK creating SPTC timer\n")
                 }
                 return status;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             /**
              * @brief update_queue_max_count returns max(fifo_size_max, pending_messages + 1)
              * @param queue_id
              * @param fifo_size_max
              */
             void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
             {
                 u_int32_t count;
                 rtems_status_code status;
                 count = 0;
                 status = rtems_message_queue_get_number_pending( queue_id, &count );
                 count = count + 1;
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
                 }
                 else
                 {
                     if (count > *fifo_size_max)
                     {
                         *fifo_size_max = count;
                     }
                 }
             }
             /**
              * @brief init_ring initializes given ring buffer
              * @param ring array of nodes to initialize
              * @param nbNodes number of node in the ring buffer
              * @param buffer memory space given to the ring buffer
              * @param bufferSize size of the whole ring buffer memory space
              *
              * @details This function creates a circular buffer from a given number of nodes and a given memory space. It first sets all nodes attributes to thier defaults values
              * and associates a portion of the given memory space with each node. Then it connects each nodes to build a circular buffer.
              *
              * Each node capacity will be bufferSize/nbNodes.
              *
              * https://en.wikipedia.org/wiki/Circular_buffer
              */
             void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
             {
                 unsigned char i;
                 //***************
                 // BUFFER ADDRESS
                 for(i=0; i<nbNodes; i++)
                 {
                     ring[i].coarseTime  = INT32_ALL_F;
                     ring[i].fineTime    = INT32_ALL_F;
                     ring[i].sid         = INIT_CHAR;
                     ring[i].status      = INIT_CHAR;
                     ring[i].buffer_address  = (int) &buffer[ i * bufferSize ];
                 }
                 //*****
                 // NEXT
                  ring[ nbNodes - 1 ].next  = (ring_node*) &ring[ 0 ];
                  for(i=0; i<nbNodes-1; i++)
                  {
                      ring[i].next      = (ring_node*) &ring[ i + 1 ];
                  }
                 //*********
                 // PREVIOUS
                 ring[ 0 ].previous       = (ring_node*) &ring[ nbNodes - 1 ];
                 for(i=1; i<nbNodes; i++)
                 {
                     ring[i].previous   = (ring_node*) &ring[ i - 1 ];
                 }
             }

src/fsw_misc.c +61 -6

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             int16_t hk_lfr_sc_v_f3_as_int16 = 0;
             int16_t hk_lfr_sc_e1_f3_as_int16 = 0;
             int16_t hk_lfr_sc_e2_f3_as_int16 = 0;
             void timer_configure(unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             {
                 /** This function configures a GPTIMER timer instantiated in the VHDL design.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  * @param interrupt_level is the interrupt level that the timer drives.
                  * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
                  *
                  * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
                  *
                  */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 old_isr_handler = NULL;
                 gptimer_regs->timer[timer].ctrl = INIT_CHAR;  // reset the control register
                 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 *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( timer, clock_divider);
             }
             void timer_start(unsigned char timer)
             {
                 /** This function starts a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_LD;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_EN;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_RS;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_IE;
             }
             void timer_stop(unsigned char timer)
             {
                 /** This function stops a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_EN_MASK;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_IE_MASK;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
             }
             void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider)
             {
                 /** This function sets the clock divider of a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  *
                  */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
             }
-            // WATCHDOG
+            // WATCHDOG, this ISR should never be triggered.
             rtems_isr watchdog_isr( rtems_vector_number vector )
             {
                 rtems_status_code status_code;
                 status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 );
                 PRINTF("watchdog_isr *** this is the end, exit(0)\n");
                 exit(0);
             }
             void watchdog_configure(void)
             {
                 /** This function configure the watchdog.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB.
                  *
                  */
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );    // mask gptimer/watchdog interrupt during configuration
                 timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );   // clear gptimer/watchdog interrupt
             }
             void watchdog_stop(void)
             {
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );                  // mask gptimer/watchdog interrupt line
                 timer_stop( TIMER_WATCHDOG );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );                 // clear gptimer/watchdog interrupt
             }
             void watchdog_reload(void)
             {
                 /** This function reloads the watchdog timer counter with the timer reload value.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  */
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
             }
             void watchdog_start(void)
             {
                 /** This function starts the watchdog timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_CLEAR_IRQ;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_EN;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_IE;
                 LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG );
             }
             int enable_apbuart_transmitter( void )  // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
-            //************
+            /**
-            // RTEMS TASKS
+             * @brief load_task starts and keeps the watchdog alive.
+             * @param argument
+             * @return
+             */
             rtems_task load_task(rtems_task_argument argument)
             {
                 BOOT_PRINTF("in LOAD *** \n")
                 rtems_status_code status;
                 unsigned int i;
                 unsigned int j;
                 rtems_name name_watchdog_rate_monotonic;  // name of the watchdog rate monotonic
                 rtems_id watchdog_period_id;              // id of the watchdog rate monotonic period
                 watchdog_period_id = RTEMS_ID_NONE;
                 name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' );
                 status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id );
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status )
                 }
                 i = 0;
                 j = 0;
                 watchdog_configure();
                 watchdog_start();
                 set_sy_lfr_watchdog_enabled( true );
                 while(1){
                     status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD );
                     watchdog_reload();
                     i = i + 1;
                     if ( i == WATCHDOG_LOOP_PRINTF )
                     {
                         i = 0;
                         j = j + 1;
                         PRINTF1("%d\n", j)
                     }
             #ifdef DEBUG_WATCHDOG
                     if (j == WATCHDOG_LOOP_DEBUG )
                     {
                         status = rtems_task_delete(RTEMS_SELF);
                     }
             #endif
                 }
             }
+            /**
+             * @brief hous_task produces and sends HK each seconds
+             * @param argument
+             * @return
+             */
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 rtems_status_code spare_status;
                 rtems_id queue_id;
                 rtems_rate_monotonic_period_status period_status;
                 bool isSynchronized;
                 queue_id = RTEMS_ID_NONE;
                 memset(&period_status, 0, sizeof(rtems_rate_monotonic_period_status));
                 isSynchronized = false;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n");
                 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
                     }
                 }
                 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 {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n");
                 }
                 // startup phase
                 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
                 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 while( (period_status.state != RATE_MONOTONIC_EXPIRED)
                        && (isSynchronized == false) )   // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
                 {
                     if ((time_management_regs->coarse_time & VAL_LFR_SYNCHRONIZED) == INT32_ALL_0) // check time synchronization
                     {
                         isSynchronized = true;
                     }
                     else
                     {
                         status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                         status = rtems_task_wake_after( HK_SYNC_WAIT );        // wait HK_SYNCH_WAIT 100 ms = 10 * 10 ms
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 set_hk_lfr_reset_cause( POWER_ON );
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "in HOUS *** ERR period: %d\n", status);
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
                     }
                     else {
                         housekeeping_packet.packetSequenceControl[BYTE_0] = (unsigned char) (sequenceCounterHK >> SHIFT_1_BYTE);
                         housekeeping_packet.packetSequenceControl[BYTE_1] = (unsigned char) (sequenceCounterHK     );
                         increment_seq_counter( &sequenceCounterHK );
                         housekeeping_packet.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                         housekeeping_packet.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                         housekeeping_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                         housekeeping_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                         housekeeping_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                         spacewire_update_hk_lfr_link_state( &housekeeping_packet.lfr_status_word[0] );
                         spacewire_read_statistics();
                         update_hk_with_grspw_stats();
                         set_hk_lfr_time_not_synchro();
                         housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
                         housekeeping_packet.sy_lfr_common_parameters_spare  = parameter_dump_packet.sy_lfr_common_parameters_spare;
                         housekeeping_packet.sy_lfr_common_parameters        = parameter_dump_packet.sy_lfr_common_parameters;
                         get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
                         get_v_e1_e2_f3(   housekeeping_packet.hk_lfr_sc_v_f3  );
                         get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
                         hk_lfr_le_me_he_update();
                         // SEND PACKET
                         status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
                                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR send: %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 return;
             }
+            /**
+             * @brief filter is a Direct-Form-II filter implementation, mostly used to filter electric field for HK
+             * @param x, new sample
+             * @param ctx, filter context, used to store previous input and output samples
+             * @return a new filtered sample
+             */
             int filter( int x, filter_ctx* ctx )
             {
                 static const int b[NB_COEFFS][NB_COEFFS]={ {B00, B01, B02}, {B10, B11, B12}, {B20, B21, B22} };
                 static const int a[NB_COEFFS][NB_COEFFS]={ {A00, A01, A02}, {A10, A11, A12}, {A20, A21, A22} };
                 static const int b_gain[NB_COEFFS]={GAIN_B0, GAIN_B1, GAIN_B2};
                 static const int a_gain[NB_COEFFS]={GAIN_A0, GAIN_A1, GAIN_A2};
                 int_fast32_t W;
                 int i;
                 W = INIT_INT;
                 i = INIT_INT;
                 //Direct-Form-II
                 for ( i = 0; i < NB_COEFFS; i++ )
                 {
                     x = x << a_gain[i];
                     W = (x - ( a[i][COEFF1] * ctx->W[i][COEFF0] )
                            - ( a[i][COEFF2] * ctx->W[i][COEFF1] ) ) >> a_gain[i];
                     x = ( b[i][COEFF0] * W )
                             + ( b[i][COEFF1] * ctx->W[i][COEFF0] )
                             + ( b[i][COEFF2] * ctx->W[i][COEFF1] );
                     x = x >> b_gain[i];
                     ctx->W[i][1] = ctx->W[i][0];
                     ctx->W[i][0] = W;
                 }
                 return x;
             }
+            /**
+             * @brief avgv_task pruduces HK rate elctrical field from F3 data
+             * @param argument
+             * @return
+             */
             rtems_task avgv_task(rtems_task_argument argument)
             {
             #define MOVING_AVERAGE 16
                 rtems_status_code status;
                 static int32_t v[MOVING_AVERAGE] = {0};
                 static int32_t e1[MOVING_AVERAGE] = {0};
                 static int32_t e2[MOVING_AVERAGE] = {0};
                 static int old_v = 0;
                 static int old_e1 = 0;
                 static int old_e2 = 0;
                 int32_t current_v;
                 int32_t current_e1;
                 int32_t current_e2;
                 int32_t average_v;
                 int32_t average_e1;
                 int32_t average_e2;
                 int32_t newValue_v;
                 int32_t newValue_e1;
                 int32_t newValue_e2;
                 unsigned char k;
                 unsigned char indexOfOldValue;
                 static filter_ctx ctx_v = { { {0,0,0}, {0,0,0}, {0,0,0} } };
                 static filter_ctx ctx_e1 = { { {0,0,0}, {0,0,0}, {0,0,0} } };
                 static filter_ctx ctx_e2 = { { {0,0,0}, {0,0,0}, {0,0,0} } };
                 BOOT_PRINTF("in AVGV ***\n");
                 if (rtems_rate_monotonic_ident( name_avgv_rate_monotonic, &AVGV_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_avgv_rate_monotonic, &AVGV_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
                     }
                 }
                 status = rtems_rate_monotonic_cancel(AVGV_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id) ***code: %d\n", status );
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id)\n");
                 }
                 // initialize values
                 indexOfOldValue = MOVING_AVERAGE - 1;
                 current_v = 0;
                 current_e1 = 0;
                 current_e2 = 0;
                 average_v   = 0;
                 average_e1  = 0;
                 average_e2  = 0;
                 newValue_v  = 0;
                 newValue_e1 = 0;
                 newValue_e2 = 0;
                 k = INIT_CHAR;
                 while(1)
                 { // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( AVGV_id, AVGV_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1( "in AVGV *** ERR period: %d\n", status);
                     }
                     else
                     {
                         current_v = waveform_picker_regs->v;
                         current_e1 = waveform_picker_regs->e1;
                         current_e2 = waveform_picker_regs->e2;
                         if ( (current_v != old_v)
                              || (current_e1 != old_e1)
                              || (current_e2 != old_e2))
                         {
                             average_v = filter( current_v, &ctx_v );
                             average_e1 = filter( current_e1, &ctx_e1 );
                             average_e2 = filter( current_e2, &ctx_e2 );
                             //update int16 values
                             hk_lfr_sc_v_f3_as_int16 =  (int16_t) average_v;
                             hk_lfr_sc_e1_f3_as_int16 = (int16_t) average_e1;
                             hk_lfr_sc_e2_f3_as_int16 = (int16_t) average_e2;
                         }
                         old_v = current_v;
                         old_e1 = current_e1;
                         old_e2 = current_e2;
                     }
                 }
                 PRINTF("in AVGV *** deleting task\n");
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 return;
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
                  *
                  */
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 event_out = EVENT_SETS_NONE_PENDING;
                 BOOT_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_EVENT_6 | RTEMS_EVENT_7
                                         | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12 | RTEMS_EVENT_13
                                         | RTEMS_EVENT_14,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<NB_RTEMS_EVENTS; i++)
                     {
                         if ( ((intEventOut >> i) & 1) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             if (i==EVENT_12)
                             {
                                 PRINTF1("%s\n", DUMB_MESSAGE_12)
                             }
                             if (i==EVENT_13)
                             {
                                 PRINTF1("%s\n", DUMB_MESSAGE_13)
                             }
                             if (i==EVENT_14)
                             {
                                 PRINTF1("%s\n", DUMB_MESSAGE_1)
                             }
                         }
                     }
                 }
             }
             rtems_task scrubbing_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to avoid entering IDLE task and also scrub memory to increase scubbing frequency.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The scrubbing reads continuously memory when no other tasks are ready.
                  *
                  */
                 BOOT_PRINTF("in SCRUBBING *** \n");
                 volatile int i=0;
                 volatile float valuef = 1.;
                 volatile uint32_t* RAM=(uint32_t*)0x40000000;
                 volatile uint32_t value;
             #ifdef ENABLE_SCRUBBING_COUNTER
                 housekeeping_packet.lfr_fpga_version[BYTE_0] = 0;
             #endif
                 while(1){
                     i=(i+1)%(1024*1024);
                     valuef += 10.f*(float)RAM[i];
             #ifdef ENABLE_SCRUBBING_COUNTER
                     if(i==0)
                     {
                         housekeeping_packet.lfr_fpga_version[BYTE_0] += 1;
                     }
             #endif
                 }
             }
             rtems_task calibration_sweep_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to change calibration signal smapling frequency between snapshots.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * If calibration is enabled, this task will divide by two the calibration signal smapling frequency between snapshots.
                  * When minimum sampling frequency is reach it will jump to maximum sampling frequency to loop indefinitely.
                  *
                  */
                 rtems_event_set event_out;
                 BOOT_PRINTF("in calibration sweep *** \n");
                 rtems_interval ticks_per_seconds = rtems_clock_get_ticks_per_second();
                 while(1){
                     // Waiting for next F0 snapshot
                     rtems_event_receive(RTEMS_EVENT_CAL_SWEEP_WAKE, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out);
                     if(time_management_regs->calDACCtrl & BIT_CAL_ENABLE)
                     {
                         unsigned int delta_snapshot;
                         delta_snapshot = (parameter_dump_packet.sy_lfr_n_swf_p[0] * CONST_256)
                                 + parameter_dump_packet.sy_lfr_n_swf_p[1];
                         // We are woken almost in the center of a snapshot -> let's wait for sy_lfr_n_swf_p / 2
                         rtems_task_wake_after( ticks_per_seconds * delta_snapshot / 2);
                         if(time_management_regs->calDivisor >= CAL_F_DIVISOR_MAX){
                             time_management_regs->calDivisor = CAL_F_DIVISOR_MIN;
                         }
                         else{
                             time_management_regs->calDivisor *= 2;
                         }
                     }
                 }
             }
             //*****************************
             // init housekeeping parameters
             void init_housekeeping_parameters( void )
             {
                 /** This function initialize the housekeeping_packet global variable with default values.
                  *
                  */
                 unsigned int i = 0;
                 unsigned char *parameters;
                 unsigned char sizeOfHK;
                 sizeOfHK = sizeof( Packet_TM_LFR_HK_t );
                 parameters = (unsigned char*) &housekeeping_packet;
                 for(i = 0; i< sizeOfHK; i++)
                 {
                     parameters[i] = INIT_CHAR;
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> SHIFT_1_BYTE);
                 housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> SHIFT_1_BYTE);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 housekeeping_packet.sid = SID_HK;
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
                 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
                 // 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[BYTE_2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[BYTE_3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 housekeeping_packet.lfr_fpga_version[BYTE_0] = parameters[BYTE_1]; // n1
                 housekeeping_packet.lfr_fpga_version[BYTE_1] = parameters[BYTE_2]; // n2
                 housekeeping_packet.lfr_fpga_version[BYTE_2] = parameters[BYTE_3]; // n3
                 housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND;
                 housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV;
                 housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0;
                 housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1;
                 housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2;
             }
             void increment_seq_counter( unsigned short *packetSequenceControl )
             {
                 /** This function increment the sequence counter passes in argument.
                  *
                  * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
                  *
                  */
                 unsigned short segmentation_grouping_flag;
                 unsigned short sequence_cnt;
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << SHIFT_1_BYTE;   // keep bits 7 downto 6
                 sequence_cnt                = (*packetSequenceControl) & SEQ_CNT_MASK;    // [0011 1111 1111 1111]
                 if ( sequence_cnt < SEQ_CNT_MAX)
                 {
                     sequence_cnt = sequence_cnt + 1;
                 }
                 else
                 {
                     sequence_cnt = 0;
                 }
                 *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ;
             }
             void getTime( unsigned char *time)
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 time[0] = (unsigned char) (time_management_regs->coarse_time>>SHIFT_3_BYTES);
                 time[1] = (unsigned char) (time_management_regs->coarse_time>>SHIFT_2_BYTES);
                 time[2] = (unsigned char) (time_management_regs->coarse_time>>SHIFT_1_BYTE);
                 time[3] = (unsigned char) (time_management_regs->coarse_time);
                 time[4] = (unsigned char) (time_management_regs->fine_time>>SHIFT_1_BYTE);
                 time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             unsigned long long int getTimeAsUnsignedLongLongInt( )
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 unsigned long long int time;
                 time = ( (unsigned long long int) (time_management_regs->coarse_time & COARSE_TIME_MASK) << SHIFT_2_BYTES )
                         + time_management_regs->fine_time;
                 return time;
             }
             void get_temperatures( unsigned char *temperatures )
             {
                 unsigned char* temp_scm_ptr;
                 unsigned char* temp_pcb_ptr;
                 unsigned char* temp_fpga_ptr;
                 // SEL1 SEL0
                 // 0    0       => PCB
                 // 0    1       => FPGA
                 // 1    0       => SCM
                 temp_scm_ptr  = (unsigned char *) &time_management_regs->temp_scm;
                 temp_pcb_ptr =  (unsigned char *) &time_management_regs->temp_pcb;
                 temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga;
                 temperatures[ BYTE_0 ] = temp_scm_ptr[ BYTE_2 ];
                 temperatures[ BYTE_1 ] = temp_scm_ptr[ BYTE_3 ];
                 temperatures[ BYTE_2 ] = temp_pcb_ptr[ BYTE_2 ];
                 temperatures[ BYTE_3 ] = temp_pcb_ptr[ BYTE_3 ];
                 temperatures[ BYTE_4 ] = temp_fpga_ptr[ BYTE_2 ];
                 temperatures[ BYTE_5 ] = temp_fpga_ptr[ BYTE_3 ];
             }
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
             {
                 unsigned char* v_ptr;
                 unsigned char* e1_ptr;
                 unsigned char* e2_ptr;
                 v_ptr  = (unsigned char *) &hk_lfr_sc_v_f3_as_int16;
                 e1_ptr = (unsigned char *) &hk_lfr_sc_e1_f3_as_int16;
                 e2_ptr = (unsigned char *) &hk_lfr_sc_e2_f3_as_int16;
                 spacecraft_potential[BYTE_0] = v_ptr[0];
                 spacecraft_potential[BYTE_1] = v_ptr[1];
                 spacecraft_potential[BYTE_2] = e1_ptr[0];
                 spacecraft_potential[BYTE_3] = e1_ptr[1];
                 spacecraft_potential[BYTE_4] = e2_ptr[0];
                 spacecraft_potential[BYTE_5] = e2_ptr[1];
             }
+            /**
+             * @brief get_cpu_load, computes CPU load, CPU load average and CPU load max
+             * @param resource_statistics stores:
+             *          - CPU load at index 0
+             *          - CPU load max at index 1
+             *          - CPU load average at index 2
+             *
+             * The CPU load average is computed on the last 60 values with a simple moving average.
+             */
             void get_cpu_load( unsigned char *resource_statistics )
             {
             #define LOAD_AVG_SIZE 60
                 static unsigned char cpu_load_hist[LOAD_AVG_SIZE]={0};
                 static char old_avg_pos=0;
                 static unsigned int cpu_load_avg;
                 unsigned char cpu_load;
                 cpu_load = lfr_rtems_cpu_usage_report();
                 // HK_LFR_CPU_LOAD
-                resource_statistics[0] = cpu_load;
+                resource_statistics[BYTE_0] = cpu_load;
                 // HK_LFR_CPU_LOAD_MAX
-                if (cpu_load > resource_statistics[1])
+                if (cpu_load > resource_statistics[BYTE_1])
                 {
-                     resource_statistics[1] = cpu_load;
+                     resource_statistics[BYTE_1] = cpu_load;
                 }
                 cpu_load_avg = cpu_load_avg - (unsigned int)cpu_load_hist[(int)old_avg_pos] + (unsigned int)cpu_load;
                 cpu_load_hist[(int)old_avg_pos] = cpu_load;
                 old_avg_pos += 1;
                 old_avg_pos %= LOAD_AVG_SIZE;
                 // CPU_LOAD_AVE
                 resource_statistics[BYTE_2] = (unsigned char)(cpu_load_avg / LOAD_AVG_SIZE);
             // this will change the way LFR compute usage
             #ifndef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
             #endif
             }
             void set_hk_lfr_sc_potential_flag( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_SC_POTENTIAL_FLAG_BIT;   // [0100 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_SC_POTENTIAL_FLAG_MASK;   // [1011 1111]
                 }
             }
             void set_sy_lfr_pas_filter_enabled( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_PAS_FILTER_ENABLED_BIT;   // [0010 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_PAS_FILTER_ENABLED_MASK;   // [1101 1111]
                 }
             }
             void set_sy_lfr_watchdog_enabled( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_WATCHDOG_BIT;   // [0001 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_WATCHDOG_MASK;   // [1110 1111]
                 }
             }
             void set_hk_lfr_calib_enable( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_CALIB_BIT;   // [0000 1000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_CALIB_MASK;   // [1111 0111]
                 }
             }
             void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause )
             {
                 housekeeping_packet.lfr_status_word[1] =
                         housekeeping_packet.lfr_status_word[1] & STATUS_WORD_RESET_CAUSE_MASK; // [1111 1000]
                 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1]
                         | (lfr_reset_cause & STATUS_WORD_RESET_CAUSE_BITS );   // [0000 0111]
             }
             void increment_hk_counter( unsigned char newValue, unsigned char oldValue, unsigned int *counter )
             {
                 int delta;
                 delta = 0;
                 if (newValue >= oldValue)
                 {
                     delta = newValue - oldValue;
                 }
                 else
                 {
                     delta = (CONST_256 - oldValue) + newValue;
                 }
                 *counter = *counter + delta;
             }
+            // Low severity error counters update
             void hk_lfr_le_update( void )
             {
                 static hk_lfr_le_t old_hk_lfr_le = {0};
                 hk_lfr_le_t new_hk_lfr_le;
                 unsigned int counter;
                 counter = (((unsigned int) housekeeping_packet.hk_lfr_le_cnt[0]) * CONST_256) + housekeeping_packet.hk_lfr_le_cnt[1];
                 // DPU
                 new_hk_lfr_le.dpu_spw_parity    = housekeeping_packet.hk_lfr_dpu_spw_parity;
                 new_hk_lfr_le.dpu_spw_disconnect= housekeeping_packet.hk_lfr_dpu_spw_disconnect;
                 new_hk_lfr_le.dpu_spw_escape    = housekeeping_packet.hk_lfr_dpu_spw_escape;
                 new_hk_lfr_le.dpu_spw_credit    = housekeeping_packet.hk_lfr_dpu_spw_credit;
                 new_hk_lfr_le.dpu_spw_write_sync= housekeeping_packet.hk_lfr_dpu_spw_write_sync;
                 // TIMECODE
                 new_hk_lfr_le.timecode_erroneous= housekeeping_packet.hk_lfr_timecode_erroneous;
                 new_hk_lfr_le.timecode_missing  = housekeeping_packet.hk_lfr_timecode_missing;
                 new_hk_lfr_le.timecode_invalid  = housekeeping_packet.hk_lfr_timecode_invalid;
                 // TIME
                 new_hk_lfr_le.time_timecode_it  = housekeeping_packet.hk_lfr_time_timecode_it;
                 new_hk_lfr_le.time_not_synchro  = housekeeping_packet.hk_lfr_time_not_synchro;
                 new_hk_lfr_le.time_timecode_ctr = housekeeping_packet.hk_lfr_time_timecode_ctr;
                 //AHB
                 new_hk_lfr_le.ahb_correctable   = housekeeping_packet.hk_lfr_ahb_correctable;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb => not handled by the grspw driver
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb => not handled by the grspw driver
                 // update the le counter
                 // DPU
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_parity,    old_hk_lfr_le.dpu_spw_parity,       &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_disconnect,old_hk_lfr_le.dpu_spw_disconnect,   &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_escape,    old_hk_lfr_le.dpu_spw_escape,       &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_credit,    old_hk_lfr_le.dpu_spw_credit,       &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_write_sync,old_hk_lfr_le.dpu_spw_write_sync,   &counter );
                 // TIMECODE
                 increment_hk_counter( new_hk_lfr_le.timecode_erroneous,old_hk_lfr_le.timecode_erroneous,   &counter );
                 increment_hk_counter( new_hk_lfr_le.timecode_missing,  old_hk_lfr_le.timecode_missing,     &counter );
                 increment_hk_counter( new_hk_lfr_le.timecode_invalid,  old_hk_lfr_le.timecode_invalid,     &counter );
                 // TIME
                 increment_hk_counter( new_hk_lfr_le.time_timecode_it,  old_hk_lfr_le.time_timecode_it,     &counter );
                 increment_hk_counter( new_hk_lfr_le.time_not_synchro,  old_hk_lfr_le.time_not_synchro,     &counter );
                 increment_hk_counter( new_hk_lfr_le.time_timecode_ctr, old_hk_lfr_le.time_timecode_ctr,    &counter );
                 // AHB
                 increment_hk_counter( new_hk_lfr_le.ahb_correctable,   old_hk_lfr_le.ahb_correctable,      &counter );
                 // DPU
                 old_hk_lfr_le.dpu_spw_parity    = new_hk_lfr_le.dpu_spw_parity;
                 old_hk_lfr_le.dpu_spw_disconnect= new_hk_lfr_le.dpu_spw_disconnect;
                 old_hk_lfr_le.dpu_spw_escape    = new_hk_lfr_le.dpu_spw_escape;
                 old_hk_lfr_le.dpu_spw_credit    = new_hk_lfr_le.dpu_spw_credit;
                 old_hk_lfr_le.dpu_spw_write_sync= new_hk_lfr_le.dpu_spw_write_sync;
                 // TIMECODE
                 old_hk_lfr_le.timecode_erroneous= new_hk_lfr_le.timecode_erroneous;
                 old_hk_lfr_le.timecode_missing  = new_hk_lfr_le.timecode_missing;
                 old_hk_lfr_le.timecode_invalid  = new_hk_lfr_le.timecode_invalid;
                 // TIME
                 old_hk_lfr_le.time_timecode_it  = new_hk_lfr_le.time_timecode_it;
                 old_hk_lfr_le.time_not_synchro  = new_hk_lfr_le.time_not_synchro;
                 old_hk_lfr_le.time_timecode_ctr = new_hk_lfr_le.time_timecode_ctr;
                 //AHB
                 old_hk_lfr_le.ahb_correctable   = new_hk_lfr_le.ahb_correctable;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb => not handled by the grspw driver
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb => not handled by the grspw driver
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // LE
                 housekeeping_packet.hk_lfr_le_cnt[0] = (unsigned char) ((counter & BYTE0_MASK) >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_le_cnt[1] = (unsigned char)  (counter & BYTE1_MASK);
             }
+            // Medium severity error counters update
             void hk_lfr_me_update( void )
             {
                 static hk_lfr_me_t old_hk_lfr_me = {0};
                 hk_lfr_me_t new_hk_lfr_me;
                 unsigned int counter;
                 counter = (((unsigned int) housekeeping_packet.hk_lfr_me_cnt[0]) * CONST_256) + housekeeping_packet.hk_lfr_me_cnt[1];
                 // get the current values
                 new_hk_lfr_me.dpu_spw_early_eop     = housekeeping_packet.hk_lfr_dpu_spw_early_eop;
                 new_hk_lfr_me.dpu_spw_invalid_addr  = housekeeping_packet.hk_lfr_dpu_spw_invalid_addr;
                 new_hk_lfr_me.dpu_spw_eep           = housekeeping_packet.hk_lfr_dpu_spw_eep;
                 new_hk_lfr_me.dpu_spw_rx_too_big    = housekeeping_packet.hk_lfr_dpu_spw_rx_too_big;
                 // update the me counter
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_early_eop,      old_hk_lfr_me.dpu_spw_early_eop,    &counter );
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_invalid_addr,   old_hk_lfr_me.dpu_spw_invalid_addr, &counter );
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_eep,            old_hk_lfr_me.dpu_spw_eep,          &counter );
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_rx_too_big,     old_hk_lfr_me.dpu_spw_rx_too_big,   &counter );
                 // store the counters for the next time
                 old_hk_lfr_me.dpu_spw_early_eop     = new_hk_lfr_me.dpu_spw_early_eop;
                 old_hk_lfr_me.dpu_spw_invalid_addr  = new_hk_lfr_me.dpu_spw_invalid_addr;
                 old_hk_lfr_me.dpu_spw_eep           = new_hk_lfr_me.dpu_spw_eep;
                 old_hk_lfr_me.dpu_spw_rx_too_big    = new_hk_lfr_me.dpu_spw_rx_too_big;
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // ME
                 housekeeping_packet.hk_lfr_me_cnt[0] = (unsigned char) ((counter & BYTE0_MASK) >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_me_cnt[1] = (unsigned char)  (counter & BYTE1_MASK);
             }
+            // High severity error counters update
             void hk_lfr_le_me_he_update()
             {
                 unsigned int hk_lfr_he_cnt;
                 hk_lfr_he_cnt = (((unsigned int) housekeeping_packet.hk_lfr_he_cnt[0]) * 256) + housekeeping_packet.hk_lfr_he_cnt[1];
                 //update the low severity error counter
                 hk_lfr_le_update( );
                 //update the medium severity error counter
                 hk_lfr_me_update();
                 //update the high severity error counter
                 hk_lfr_he_cnt = 0;
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // HE
                 housekeeping_packet.hk_lfr_he_cnt[0] = (unsigned char) ((hk_lfr_he_cnt & BYTE0_MASK) >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_he_cnt[1] = (unsigned char)  (hk_lfr_he_cnt & BYTE1_MASK);
             }
             void set_hk_lfr_time_not_synchro()
             {
                 static unsigned char synchroLost = 1;
                 int synchronizationBit;
                 // get the synchronization bit
                 synchronizationBit =
                         (time_management_regs->coarse_time & VAL_LFR_SYNCHRONIZED) >> BIT_SYNCHRONIZATION;    // 1000 0000 0000 0000
                 switch (synchronizationBit)
                 {
                 case 0:
                     if (synchroLost == 1)
                     {
                         synchroLost = 0;
                     }
                     break;
                 case 1:
                     if (synchroLost == 0 )
                     {
                         synchroLost = 1;
                         increase_unsigned_char_counter(&housekeeping_packet.hk_lfr_time_not_synchro);
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIME, CODE_NOT_SYNCHRO );
                     }
                     break;
                 default:
                     PRINTF1("in hk_lfr_time_not_synchro *** unexpected value for synchronizationBit = %d\n", synchronizationBit);
                     break;
                 }
             }
             void set_hk_lfr_ahb_correctable()   // CRITICITY L
             {
                 /** This function builds the error counter hk_lfr_ahb_correctable using the statistics provided
                  * by the Cache Control Register (ASI 2, offset 0) and in the Register Protection Control Register (ASR16) on the
                  * detected errors in the cache, in the integer unit and in the floating point unit.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * All errors are summed to set the value of the hk_lfr_ahb_correctable counter.
                  *
                 */
                 unsigned int ahb_correctable;
                 unsigned int instructionErrorCounter;
                 unsigned int dataErrorCounter;
                 unsigned int fprfErrorCounter;
                 unsigned int iurfErrorCounter;
                 instructionErrorCounter = 0;
                 dataErrorCounter = 0;
                 fprfErrorCounter = 0;
                 iurfErrorCounter = 0;
                 CCR_getInstructionAndDataErrorCounters( &instructionErrorCounter, &dataErrorCounter);
                 ASR16_get_FPRF_IURF_ErrorCounters( &fprfErrorCounter, &iurfErrorCounter);
                 ahb_correctable = instructionErrorCounter
                         + dataErrorCounter
                         + fprfErrorCounter
                         + iurfErrorCounter
                         + housekeeping_packet.hk_lfr_ahb_correctable;
                 housekeeping_packet.hk_lfr_ahb_correctable = (unsigned char) (ahb_correctable & INT8_ALL_F);  // [1111 1111]
             }

src/fsw_spacewire.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions related to the SpaceWire interface.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle SpaceWire transmissions:
              * - configuration of the SpaceWire link
              * - SpaceWire related interruption requests processing
              * - transmission of TeleMetry packets by a dedicated RTEMS task
              * - reception of TeleCommands by a dedicated RTEMS task
              *
              */
             #include "fsw_spacewire.h"
             rtems_name semq_name    = 0;
             rtems_id semq_id        = RTEMS_ID_NONE;
             //*****************
             // waveform headers
             Header_TM_LFR_SCIENCE_CWF_t headerCWF = {0};
             Header_TM_LFR_SCIENCE_SWF_t headerSWF = {0};
             Header_TM_LFR_SCIENCE_ASM_t headerASM = {0};
             unsigned char previousTimecodeCtr = 0;
             unsigned int *grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER);
             //***********
             // RTEMS TASK
             rtems_task spiq_task(rtems_task_argument unused)
             {
                 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 event_out = EVENT_SETS_NONE_PENDING;
                 linkStatus = 0;
                 BOOT_PRINTF("in SPIQ *** \n")
                 while(true){
                     rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
                     PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
                     // [0] SUSPEND RECV AND SEND TASKS
                     status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending RECV Task\n")
                     }
                     status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending SEND Task\n")
                     }
                     // [1] CHECK THE LINK
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (1)
                     if ( linkStatus != SPW_LINK_OK) {
                         PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
                         status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     }
                     // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (2)
                     if ( linkStatus != SPW_LINK_OK )  // [2.a] not in run state, reset the link
                     {
                         spacewire_read_statistics();
                         status = spacewire_several_connect_attemps( );
                     }
                     else                    // [2.b] in run state, start the link
                     {
                         status = spacewire_stop_and_start_link( fdSPW ); // start the link
                         if ( status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status)
                         }
                     }
                     // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
                     if ( status == RTEMS_SUCCESSFUL )   // [3.a] the link is in run state and has been started successfully
                     {
                         status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming SEND Task\n")
                         }
                         status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                         }
                     }
                     else                                // [3.b] the link is not in run state, go in STANDBY mode
                     {
                         status = enter_mode_standby();
                         if ( status != RTEMS_SUCCESSFUL )
                         {
                             PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
                         }
                         {
                             updateLFRCurrentMode( LFR_MODE_STANDBY );
                         }
                         // wake the LINK task up to wait for the link recovery
                         status =  rtems_event_send ( Task_id[TASKID_LINK], RTEMS_EVENT_0 );
                         status = rtems_task_suspend( RTEMS_SELF );
                     }
                 }
             }
             rtems_task recv_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
                  * 1. It reads the incoming data.
                  * 2. Launches the acceptance procedure.
                  * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
                  *
                  */
                 int len;
                 ccsdsTelecommandPacket_t __attribute__((aligned(4))) currentTC;
                 unsigned char computed_CRC[ BYTES_PER_CRC ];
                 unsigned char currentTC_LEN_RCV[ BYTES_PER_PKT_LEN ];
                 unsigned char destinationID;
                 unsigned int estimatedPacketLength;
                 unsigned int parserCode;
                 rtems_status_code status;
                 rtems_id queue_recv_id;
                 rtems_id queue_send_id;
                 memset( &currentTC, 0, sizeof(ccsdsTelecommandPacket_t) );
                 destinationID = 0;
                 queue_recv_id = RTEMS_ID_NONE;
                 queue_send_id = RTEMS_ID_NONE;
                 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                 status =  get_message_queue_id_recv( &queue_recv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                     }
                     else {
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("in RECV *** packet lenght too short\n")
                         }
                         else {
                             estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - PROTID_RES_APP); // => -3 is for Prot ID, Reserved and User App bytes
                             PRINTF1("incoming TC with Length (byte): %d\n", len - 3);
                             currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> SHIFT_1_BYTE);
                             currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength     );
                             // CHECK THE TC
                             parserCode = tc_parser( &currentTC, estimatedPacketLength, computed_CRC ) ;
                             if ( (parserCode == ILLEGAL_APID)       || (parserCode == WRONG_LEN_PKT)
                                  || (parserCode == INCOR_CHECKSUM)  || (parserCode == ILL_TYPE)
                                  || (parserCode == ILL_SUBTYPE)     || (parserCode == WRONG_APP_DATA)
                                  || (parserCode == WRONG_SRC_ID) )
                             { // send TM_LFR_TC_EXE_CORRUPTED
                                 PRINTF1("TC corrupted received, with code: %d\n", parserCode);
                                 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                                      &&
                                      !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
                                      )
                                 {
                                     if ( parserCode == WRONG_SRC_ID )
                                     {
                                         destinationID = SID_TC_GROUND;
                                     }
                                     else
                                     {
                                         destinationID = currentTC.sourceID;
                                     }
                                     send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
                                                                   computed_CRC, currentTC_LEN_RCV,
                                                                   destinationID );
                                 }
                             }
                             else
                             { // send valid TC to the action launcher
                                 status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                     estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + PROTID_RES_APP);
                             }
                         }
                     }
                     update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max );
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;                // RTEMS status code
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 ring_node *incomingRingNodePtr;
                 int ring_node_address;
                 char *charPtr;
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
                 rtems_id queue_send_id;
                 unsigned int sid;
                 unsigned char sidAsUnsignedChar;
                 unsigned char type;
                 incomingRingNodePtr = NULL;
                 ring_node_address = 0;
                 charPtr = (char *) &ring_node_address;
                 size = 0;
                 queue_send_id = RTEMS_ID_NONE;
                 sid = 0;
                 sidAsUnsignedChar = 0;
                 init_header_cwf( &headerCWF );
                 init_header_swf( &headerSWF );
                 init_header_asm( &headerASM );
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in SEND *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_send_id, incomingData, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (1) ERR = %d\n", status)
                     }
                     else
                     {
                         if ( size == sizeof(ring_node*) )
                         {
                             charPtr[0] = incomingData[0];
                             charPtr[1] = incomingData[1];
                             charPtr[BYTE_2] = incomingData[BYTE_2];
                             charPtr[BYTE_3] = incomingData[BYTE_3];
                             incomingRingNodePtr = (ring_node*) ring_node_address;
                             sid = incomingRingNodePtr->sid;
                             if ( (sid==SID_NORM_CWF_LONG_F3)
                                  || (sid==SID_BURST_CWF_F2 )
                                  || (sid==SID_SBM1_CWF_F1  )
                                  || (sid==SID_SBM2_CWF_F2  ))
                             {
                                 spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF );
                             }
                             else if ( (sid==SID_NORM_SWF_F0) || (sid==SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) )
                             {
                                 spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF );
                             }
                             else if (sid==SID_NORM_CWF_F3)
                             {
                                 spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF );
                             }
                             else if (sid==SID_NORM_ASM_F0)
                             {
                                 spw_send_asm_f0( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F1)
                             {
                                 spw_send_asm_f1( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F2)
                             {
                                 spw_send_asm_f2( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==TM_CODE_K_DUMP)
                             {
                                 spw_send_k_dump( incomingRingNodePtr );
                             }
                             else
                             {
                                 PRINTF1("unexpected sid = %d\n", sid);
                             }
                         }
                         else if ( incomingData[0] == CCSDS_DESTINATION_ID ) // the incoming message is a ccsds packet
                         {
                             sidAsUnsignedChar = (unsigned char) incomingData[ PACKET_POS_PA_LFR_SID_PKT ];
                             sid = sidAsUnsignedChar;
                             type = (unsigned char) incomingData[ PACKET_POS_SERVICE_TYPE ];
                             if (type == TM_TYPE_LFR_SCIENCE)    // this is a BP packet, all other types are handled differently
                             // SET THE SEQUENCE_CNT PARAMETER IN CASE OF BP0 OR BP1 PACKETS
                             {
                                 increment_seq_counter_source_id( (unsigned char*) &incomingData[ PACKET_POS_SEQUENCE_CNT ], sid );
                             }
                             status = write( fdSPW, incomingData, size );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                             }
                         }
                         else // the incoming message is a spw_ioctl_pkt_send structure
                         {
                             spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
                             status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
                             }
                         }
                     }
                     update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max );
                 }
             }
             rtems_task link_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 event_out = EVENT_SETS_NONE_PENDING;
                 linkStatus = 0;
                 BOOT_PRINTF("in LINK ***\n")
                 while(1)
                 {
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("in LINK *** wait for the link\n")
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);       // get the link status
                     while( linkStatus != SPW_LINK_OK)                                           // wait for the link
                     {
                         status = rtems_task_wake_after( SPW_LINK_WAIT );                        // monitor the link each 100ms
                         status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
                         watchdog_reload();
                     }
                     spacewire_read_statistics();
                     status = spacewire_stop_and_start_link( fdSPW );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in LINK *** ERR link not started %d\n", status)
                     }
                     else
                     {
                         PRINTF("in LINK *** OK  link started\n")
                     }
                     // restart the SPIQ task
                     status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
                     }
                     // restart RECV and SEND
                     status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SEND Task\n")
                     }
                     status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting RECV Task\n")
                     }
                 }
             }
             //****************
             // OTHER FUNCTIONS
             int spacewire_open_link( void )  // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);]
             {
                 /** This function opens the SpaceWire link.
                  *
                  * @return a valid file descriptor in case of success, -1 in case of a failure
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
                 if ( fdSPW < 0 ) {
                     PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
             int spacewire_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_stop_and_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_STOP);      // start fails if link pDev->running != 0
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_configure_link( int fd )
             {
                 /** This function configures the SpaceWire link.
                  *
                  * @return GR-RTEMS-DRIVER directive status codes:
                  * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                  * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                  * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                  * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                  * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                  * - 5   EIO - Error when writing to grswp hardware registers.
                  * - 2   ENOENT - No such file or directory
                  */
                 rtems_status_code status;
                 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
                 spw_ioctl_packetsize packetsize;
                 packetsize.rxsize   = SPW_RXSIZE;
                 packetsize.txdsize  = SPW_TXDSIZE;
                 packetsize.txhsize  = SPW_TXHSIZE;
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n")          // link-error interrupt occurs
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 1);              // transmission blocks
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);      // transmission blocks when no transmission descriptor is available
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, CONF_TCODE_CTRL); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_PACKETSIZE, packetsize); // set rxsize, txdsize and txhsize
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_PACKETSIZE,\n")
                 }
                 return status;
             }
             int spacewire_several_connect_attemps( void )
             {
                 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
                  * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
                  *
                  */
                 rtems_status_code status_spw;
                 rtems_status_code status;
                 int i;
                 status_spw = RTEMS_SUCCESSFUL;
                 i = 0;
                 while (i < SY_LFR_DPU_CONNECT_ATTEMPT)
                 {
                     PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
                     // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
                     status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     status_spw = spacewire_stop_and_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         i = i + 1;
                         PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw);
                     }
                     else
                     {
                         i = SY_LFR_DPU_CONNECT_ATTEMPT;
                     }
                 }
                 return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | SPW_BIT_NP; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & SPW_BIT_NP_MASK;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | SPW_BIT_RE; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & SPW_BIT_RE_MASK;
                 }
             }
             void spacewire_read_statistics( void )
             {
                 /** This function reads the SpaceWire statistics from the grspw RTEMS driver.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * Once they are read, the counters are stored in a global variable used during the building of the
                  * HK packets.
                  *
                  */
                 rtems_status_code status;
                 spw_stats current;
                 memset(&current, 0, sizeof(spw_stats));
                 spacewire_get_last_error();
                 // read the current statistics
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &current );
                 // clear the counters
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_CLR_STATISTICS );
                 // rx_eep_err
                 grspw_stats.rx_eep_err      = grspw_stats.rx_eep_err        + current.rx_eep_err;
                 // rx_truncated
                 grspw_stats.rx_truncated    = grspw_stats.rx_truncated      + current.rx_truncated;
                 // parity_err
                 grspw_stats.parity_err      = grspw_stats.parity_err        + current.parity_err;
                 // escape_err
                 grspw_stats.escape_err      = grspw_stats.escape_err        + current.escape_err;
                 // credit_err
                 grspw_stats.credit_err      = grspw_stats.credit_err        + current.credit_err;
                 // write_sync_err
                 grspw_stats.write_sync_err  = grspw_stats.write_sync_err    + current.write_sync_err;
                 // disconnect_err
                 grspw_stats.disconnect_err  = grspw_stats.disconnect_err    + current.disconnect_err;
                 // early_ep
                 grspw_stats.early_ep        = grspw_stats.early_ep          + current.early_ep;
                 // invalid_address
                 grspw_stats.invalid_address = grspw_stats.invalid_address   + current.invalid_address;
                 // packets_sent
                 grspw_stats.packets_sent    = grspw_stats.packets_sent      + current.packets_sent;
                 // packets_received
                 grspw_stats.packets_received= grspw_stats.packets_received  + current.packets_received;
             }
             void spacewire_get_last_error( void )
             {
                 static spw_stats previous = {0};
                 spw_stats current;
                 rtems_status_code status;
                 unsigned int  hk_lfr_last_er_rid;
                 unsigned char hk_lfr_last_er_code;
                 int coarseTime;
                 int fineTime;
                 unsigned char update_hk_lfr_last_er;
                 memset(&current, 0, sizeof(spw_stats));
                 hk_lfr_last_er_rid  = INIT_CHAR;
                 hk_lfr_last_er_code = INIT_CHAR;
                 update_hk_lfr_last_er = INIT_CHAR;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &current );
                 // get current time
                 coarseTime = time_management_regs->coarse_time;
                 fineTime   = time_management_regs->fine_time;
                 // tx_link_err *** no code associated to this field
                 // rx_rmap_header_crc_err ***  LE *** in HK
                 if (previous.rx_rmap_header_crc_err != current.rx_rmap_header_crc_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_HEADER_CRC;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_rmap_data_crc_err ***  LE *** NOT IN HK
                 if (previous.rx_rmap_data_crc_err != current.rx_rmap_data_crc_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_DATA_CRC;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_eep_err
                 if (previous.rx_eep_err != current.rx_eep_err)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_EEP;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_truncated
                 if (previous.rx_truncated != current.rx_truncated)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_RX_TOO_BIG;
                     update_hk_lfr_last_er = 1;
                 }
                 // parity_err
                 if (previous.parity_err != current.parity_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_PARITY;
                     update_hk_lfr_last_er = 1;
                 }
                 // escape_err
                 if (previous.parity_err != current.parity_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_ESCAPE;
                     update_hk_lfr_last_er = 1;
                 }
                 // credit_err
                 if (previous.credit_err != current.credit_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_CREDIT;
                     update_hk_lfr_last_er = 1;
                 }
                 // write_sync_err
                 if (previous.write_sync_err != current.write_sync_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_WRITE_SYNC;
                     update_hk_lfr_last_er = 1;
                 }
                 // disconnect_err
                 if (previous.disconnect_err != current.disconnect_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_DISCONNECT;
                     update_hk_lfr_last_er = 1;
                 }
                 // early_ep
                 if (previous.early_ep != current.early_ep)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_EARLY_EOP_EEP;
                     update_hk_lfr_last_er = 1;
                 }
                 // invalid_address
                 if (previous.invalid_address != current.invalid_address)
                 {
                     hk_lfr_last_er_rid = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_INVALID_ADDRESS;
                     update_hk_lfr_last_er = 1;
                 }
                 // if a field has changed, update the hk_last_er fields
                 if (update_hk_lfr_last_er == 1)
                 {
                     update_hk_lfr_last_er_fields( hk_lfr_last_er_rid, hk_lfr_last_er_code );
                 }
                 previous = current;
             }
             void update_hk_lfr_last_er_fields(unsigned int rid, unsigned char code)
             {
                 unsigned char *coarseTimePtr;
                 unsigned char *fineTimePtr;
                 coarseTimePtr = (unsigned char*) &time_management_regs->coarse_time;
                 fineTimePtr = (unsigned char*) &time_management_regs->fine_time;
                 housekeeping_packet.hk_lfr_last_er_rid[0]   = (unsigned char) ((rid & BYTE0_MASK) >> SHIFT_1_BYTE );
                 housekeeping_packet.hk_lfr_last_er_rid[1]   = (unsigned char)  (rid & BYTE1_MASK);
                 housekeeping_packet.hk_lfr_last_er_code     = code;
                 housekeeping_packet.hk_lfr_last_er_time[0]  = coarseTimePtr[0];
                 housekeeping_packet.hk_lfr_last_er_time[1]  = coarseTimePtr[1];
                 housekeeping_packet.hk_lfr_last_er_time[BYTE_2]  = coarseTimePtr[BYTE_2];
                 housekeeping_packet.hk_lfr_last_er_time[BYTE_3]  = coarseTimePtr[BYTE_3];
                 housekeeping_packet.hk_lfr_last_er_time[BYTE_4]  = fineTimePtr[BYTE_2];
                 housekeeping_packet.hk_lfr_last_er_time[BYTE_5]  = fineTimePtr[BYTE_3];
             }
             void update_hk_with_grspw_stats( void )
             {
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0]   = (unsigned char) (grspw_stats.packets_received >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1]   = (unsigned char) (grspw_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0]  = (unsigned char) (grspw_stats.packets_sent >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1]  = (unsigned char) (grspw_stats.packets_sent);
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity       = (unsigned char) grspw_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect   = (unsigned char) grspw_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape       = (unsigned char) grspw_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit       = (unsigned char) grspw_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync   = (unsigned char) grspw_stats.write_sync_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop    = (unsigned char) grspw_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) grspw_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep          = (unsigned char) grspw_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big   = (unsigned char) grspw_stats.rx_truncated;
             }
             void spacewire_update_hk_lfr_link_state( unsigned char *hk_lfr_status_word_0 )
             {
                 unsigned int *statusRegisterPtr;
                 unsigned char linkState;
                 statusRegisterPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_STATUS_REGISTER);
                 linkState =
                         (unsigned char) ( ( (*statusRegisterPtr) >>  SPW_LINK_STAT_POS) & STATUS_WORD_LINK_STATE_BITS);   // [0000 0111]
                 *hk_lfr_status_word_0 = *hk_lfr_status_word_0 & STATUS_WORD_LINK_STATE_MASK;       // [1111 1000] set link state to 0
                 *hk_lfr_status_word_0 = *hk_lfr_status_word_0 | linkState;  // update hk_lfr_dpu_spw_link_state
             }
             void increase_unsigned_char_counter( unsigned char *counter )
             {
                 // update the number of valid timecodes that have been received
                 if (*counter == UINT8_MAX)
                 {
                     *counter = 0;
                 }
                 else
                 {
                     *counter = *counter + 1;
                 }
             }
             unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr)
             {
                 /** This function checks the coherency between the incoming timecode and the last valid timecode.
                  *
                  * @param currentTimecodeCtr is the incoming timecode
                  *
                  * @return returned codes::
                  * - LFR_DEFAULT
                  * - LFR_SUCCESSFUL
                  *
                  */
                 static unsigned char firstTickout = 1;
                 unsigned char ret;
                 ret = LFR_DEFAULT;
                 if (firstTickout == 0)
                 {
                     if (currentTimecodeCtr == 0)
                     {
                         if (previousTimecodeCtr == SPW_TIMECODE_MAX)
                         {
                             ret = LFR_SUCCESSFUL;
                         }
                         else
                         {
                             ret = LFR_DEFAULT;
                         }
                     }
                     else
                     {
                         if (currentTimecodeCtr == (previousTimecodeCtr +1))
                         {
                             ret = LFR_SUCCESSFUL;
                         }
                         else
                         {
                             ret = LFR_DEFAULT;
                         }
                     }
                 }
                 else
                 {
                     firstTickout = 0;
                     ret = LFR_SUCCESSFUL;
                 }
                 return ret;
             }
             unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime)
             {
                 unsigned int ret;
                 ret = LFR_DEFAULT;
                 if (timecode == internalTime)
                 {
                     ret = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
             {
                 // a tickout has been emitted, perform actions on the incoming timecode
                 unsigned char incomingTimecode;
                 unsigned char updateTime;
                 unsigned char internalTime;
                 rtems_status_code status;
                 incomingTimecode =        (unsigned char) (grspwPtr[0] & TIMECODE_MASK);
                 updateTime    = time_management_regs->coarse_time_load & TIMECODE_MASK;
                 internalTime  = time_management_regs->coarse_time      & TIMECODE_MASK;
                 housekeeping_packet.hk_lfr_dpu_spw_last_timc = incomingTimecode;
                 // update the number of tickout that have been generated
                 increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt );
                 //**************************
                 // HK_LFR_TIMECODE_ERRONEOUS
                 // MISSING and INVALID are handled by the timecode_timer_routine service routine
                 if (check_timecode_and_previous_timecode_coherency( incomingTimecode ) == LFR_DEFAULT)
                 {
                     // this is unexpected but a tickout could have been raised despite of the timecode being erroneous
                     increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_erroneous );
                     update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_ERRONEOUS );
                 }
                 //************************
                 // HK_LFR_TIME_TIMECODE_IT
                 // check the coherency between the SpaceWire timecode and the Internal Time
                 if (check_timecode_and_internal_time_coherency( incomingTimecode, internalTime ) == LFR_DEFAULT)
                 {
                     increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_it );
                     update_hk_lfr_last_er_fields( RID_LE_LFR_TIME, CODE_TIMECODE_IT );
                 }
                 //********************
                 // HK_LFR_TIMECODE_CTR
                 // check the value of the timecode with respect to the last TC_LFR_UPDATE_TIME => SSS-CP-FS-370
                 if (oneTcLfrUpdateTimeReceived == 1)
                 {
                     if ( incomingTimecode != updateTime )
                     {
                         increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_time_timecode_ctr );
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIME, CODE_TIMECODE_CTR );
                     }
                 }
                 // launch the timecode timer to detect missing or invalid timecodes
                 previousTimecodeCtr = incomingTimecode;  // update the previousTimecodeCtr value
                 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT, timecode_timer_routine, NULL );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_14 );
                 }
             }
             rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data )
             {
                 static unsigned char initStep = 1;
                 unsigned char currentTimecodeCtr;
                 currentTimecodeCtr = (unsigned char) (grspwPtr[0] & TIMECODE_MASK);
                 if (initStep == 1)
                 {
                     if (currentTimecodeCtr == previousTimecodeCtr)
                     {
                         //************************
                         // HK_LFR_TIMECODE_MISSING
                         // the timecode value has not changed, no valid timecode has been received, the timecode is MISSING
                         increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_missing );
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_MISSING );
                     }
                     else if (currentTimecodeCtr == (previousTimecodeCtr+1))
                     {
                         // the timecode value has changed and the value is valid, this is unexpected because
                         // the timer should not have fired, the timecode_irq_handler should have been raised
                     }
                     else
                     {
                         //************************
                         // HK_LFR_TIMECODE_INVALID
                         // the timecode value has changed and the value is not valid, no tickout has been generated
                         // this is why the timer has fired
                         increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_invalid );
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_INVALID );
                     }
                 }
                 else
                 {
                     initStep = 1;
                     //************************
                     // HK_LFR_TIMECODE_MISSING
                     increase_unsigned_char_counter( &housekeeping_packet.hk_lfr_timecode_missing );
                     update_hk_lfr_last_er_fields( RID_LE_LFR_TIMEC, CODE_MISSING );
                 }
                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_13 );
             }
             void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 header->targetLogicalAddress    = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier      = CCSDS_PROTOCOLE_ID;
                 header->reserved                = DEFAULT_RESERVED;
                 header->userApplication         = CCSDS_USER_APP;
                 header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = INIT_CHAR;
                 header->packetLength[1] = INIT_CHAR;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[BYTE_0] = INIT_CHAR;
                 header->time[BYTE_1] = INIT_CHAR;
                 header->time[BYTE_2] = INIT_CHAR;
                 header->time[BYTE_3] = INIT_CHAR;
                 header->time[BYTE_4] = INIT_CHAR;
                 header->time[BYTE_5] = INIT_CHAR;
                 // AUXILIARY DATA HEADER
                 header->sid = INIT_CHAR;
                 header->pa_bia_status_info = DEFAULT_HKBIA;
                 header->blkNr[0] = INIT_CHAR;
                 header->blkNr[1] = INIT_CHAR;
             }
             void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> SHIFT_1_BYTE);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> SHIFT_1_BYTE);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[BYTE_0] = INIT_CHAR;
                 header->time[BYTE_1] = INIT_CHAR;
                 header->time[BYTE_2] = INIT_CHAR;
                 header->time[BYTE_3] = INIT_CHAR;
                 header->time[BYTE_4] = INIT_CHAR;
                 header->time[BYTE_5] = INIT_CHAR;
                 // AUXILIARY DATA HEADER
                 header->sid     = INIT_CHAR;
                 header->pa_bia_status_info   = DEFAULT_HKBIA;
                 header->pktCnt  = PKTCNT_SWF;  // PKT_CNT
                 header->pktNr   = INIT_CHAR;
                 header->blkNr[0]        = (unsigned char) (BLK_NR_CWF >> SHIFT_1_BYTE);
                 header->blkNr[1]        = (unsigned char) (BLK_NR_CWF     );
             }
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> SHIFT_1_BYTE);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = INIT_CHAR;
                 header->packetLength[1] = INIT_CHAR;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[BYTE_0] = INIT_CHAR;
                 header->time[BYTE_1] = INIT_CHAR;
                 header->time[BYTE_2] = INIT_CHAR;
                 header->time[BYTE_3] = INIT_CHAR;
                 header->time[BYTE_4] = INIT_CHAR;
                 header->time[BYTE_5] = INIT_CHAR;
                 // AUXILIARY DATA HEADER
                 header->sid     = INIT_CHAR;
                 header->pa_bia_status_info = INIT_CHAR;
                 header->pa_lfr_pkt_cnt_asm = INIT_CHAR;
                 header->pa_lfr_pkt_nr_asm = INIT_CHAR;
                 header->pa_lfr_asm_blk_nr[0] = INIT_CHAR;
                 header->pa_lfr_asm_blk_nr[1] = INIT_CHAR;
             }
             int spw_send_waveform_CWF( ring_node *ring_node_to_send,
                                   Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = (unsigned char) ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> SHIFT_1_BYTE);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> SHIFT_1_BYTE);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF     );
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr  = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime);
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[BYTE_2] = header->acquisitionTime[BYTE_2];
                     header->time[BYTE_3] = header->acquisitionTime[BYTE_3];
                     header->time[BYTE_4] = header->acquisitionTime[BYTE_4];
                     header->time[BYTE_5] = header->acquisitionTime[BYTE_5];
                     // SET PACKET ID
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> SHIFT_1_BYTE);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> SHIFT_1_BYTE);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     }
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_SWF( ring_node *ring_node_to_send,
                                    Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF;
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 sid = ring_node_to_send->sid;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<PKTCNT_SWF; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_SWF.hdr = (char*) header;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET PACKET LENGTH AND BLKNR
                     if (i == (PKTCNT_SWF-1))
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> SHIFT_1_BYTE);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_224 >> SHIFT_1_BYTE);
                         header->blkNr[1] = (unsigned char) (BLK_NR_224     );
                     }
                     else
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> SHIFT_1_BYTE);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_304 >> SHIFT_1_BYTE);
                         header->blkNr[1] = (unsigned char) (BLK_NR_304     );
                     }
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime );
                     //
                     header->time[BYTE_0] = header->acquisitionTime[BYTE_0];
                     header->time[BYTE_1] = header->acquisitionTime[BYTE_1];
                     header->time[BYTE_2] = header->acquisitionTime[BYTE_2];
                     header->time[BYTE_3] = header->acquisitionTime[BYTE_3];
                     header->time[BYTE_4] = header->acquisitionTime[BYTE_4];
                     header->time[BYTE_5] = header->acquisitionTime[BYTE_5];
                     // SET SID
                     header->sid = sid;
                     // SET PKTNR
                     header->pktNr = i+1;    // PKT_NR
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send,
                                               Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (char*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> SHIFT_1_BYTE);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> SHIFT_1_BYTE);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
                 //*********************
                 // SEND CWF3_light DATA
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime );
                     //
                     header->time[BYTE_0] = header->acquisitionTime[BYTE_0];
                     header->time[BYTE_1] = header->acquisitionTime[BYTE_1];
                     header->time[BYTE_2] = header->acquisitionTime[BYTE_2];
                     header->time[BYTE_3] = header->acquisitionTime[BYTE_3];
                     header->time[BYTE_4] = header->acquisitionTime[BYTE_4];
                     header->time[BYTE_5] = header->acquisitionTime[BYTE_5];
                     // SET PACKET ID
                     header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> SHIFT_1_BYTE);
                     header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             void spw_send_asm_f0( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<PKTCNT_ASM; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_1) >> SHIFT_1_BYTE ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_2) >> SHIFT_1_BYTE ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length >> SHIFT_1_BYTE);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = PKTCNT_ASM;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[BYTE_0] = (unsigned char) (coarseTime >> SHIFT_3_BYTES);
                     header->time[BYTE_1] = (unsigned char) (coarseTime >> SHIFT_2_BYTES);
                     header->time[BYTE_2] = (unsigned char) (coarseTime >> SHIFT_1_BYTE);
                     header->time[BYTE_3] = (unsigned char) (coarseTime);
                     header->time[BYTE_4] = (unsigned char) (fineTime >> SHIFT_1_BYTE);
                     header->time[BYTE_5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[BYTE_0] = header->time[BYTE_0];
                     header->acquisitionTime[BYTE_1] = header->time[BYTE_1];
                     header->acquisitionTime[BYTE_2] = header->time[BYTE_2];
                     header->acquisitionTime[BYTE_3] = header->time[BYTE_3];
                     header->acquisitionTime[BYTE_4] = header->time[BYTE_4];
                     header->acquisitionTime[BYTE_5] = header->time[BYTE_5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_asm_f1( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<PKTCNT_ASM; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_1) >> SHIFT_1_BYTE ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_2) >> SHIFT_1_BYTE ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length >> SHIFT_1_BYTE);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = PKTCNT_ASM;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[BYTE_0] = (unsigned char) (coarseTime >> SHIFT_3_BYTES);
                     header->time[BYTE_1] = (unsigned char) (coarseTime >> SHIFT_2_BYTES);
                     header->time[BYTE_2] = (unsigned char) (coarseTime >> SHIFT_1_BYTE);
                     header->time[BYTE_3] = (unsigned char) (coarseTime);
                     header->time[BYTE_4] = (unsigned char) (fineTime >> SHIFT_1_BYTE);
                     header->time[BYTE_5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[BYTE_0] = header->time[BYTE_0];
                     header->acquisitionTime[BYTE_1] = header->time[BYTE_1];
                     header->acquisitionTime[BYTE_2] = header->time[BYTE_2];
                     header->acquisitionTime[BYTE_3] = header->time[BYTE_3];
                     header->acquisitionTime[BYTE_4] = header->time[BYTE_4];
                     header->acquisitionTime[BYTE_5] = header->time[BYTE_5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             /**
              * @brief spw_send_asm_f2 Sends an ASM packet at F2 over spacewire
              * @param ring_node_to_send node pointing to the actual buffer to send
              * @param header
              */
             void spw_send_asm_f2( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->pa_bia_status_info = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<PKTCNT_ASM; i++)
                 {
                     spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT;
                     spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                             ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM )
                             ];
                     length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2;
                     header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3;
                     header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F2) >> SHIFT_1_BYTE ); // BLK_NR MSB
                     header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F2);        // BLK_NR LSB
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length >> SHIFT_1_BYTE);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = PKTCNT_ASM;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[BYTE_0] = (unsigned char) (coarseTime >> SHIFT_3_BYTES);
                     header->time[BYTE_1] = (unsigned char) (coarseTime >> SHIFT_2_BYTES);
                     header->time[BYTE_2] = (unsigned char) (coarseTime >> SHIFT_1_BYTE);
                     header->time[BYTE_3] = (unsigned char) (coarseTime);
                     header->time[BYTE_4] = (unsigned char) (fineTime >> SHIFT_1_BYTE);
                     header->time[BYTE_5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[BYTE_0] = header->time[BYTE_0];
                     header->acquisitionTime[BYTE_1] = header->time[BYTE_1];
                     header->acquisitionTime[BYTE_2] = header->time[BYTE_2];
                     header->acquisitionTime[BYTE_3] = header->time[BYTE_3];
                     header->acquisitionTime[BYTE_4] = header->time[BYTE_4];
                     header->acquisitionTime[BYTE_5] = header->time[BYTE_5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             /**
              * @brief spw_send_k_dump Sends k coefficients dump packet over spacewire
              * @param ring_node_to_send node pointing to the actual buffer to send
              */
             void spw_send_k_dump( ring_node *ring_node_to_send )
             {
                 rtems_status_code status;
                 Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump;
                 unsigned int packetLength;
                 unsigned int size;
                 PRINTF("spw_send_k_dump\n")
                 kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address;
                 packetLength = (kcoefficients_dump->packetLength[0] * CONST_256) + kcoefficients_dump->packetLength[1];
                 size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 PRINTF2("packetLength %d, size %d\n", packetLength, size )
                 status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size );
                 if (status == -1){
                     PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                 }
                 ring_node_to_send->status = INIT_CHAR;
             }

src/processing/avf0_prc0.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include "avf0_prc0.h"
             nb_sm_before_bp_asm_f0 nb_sm_before_f0 = {0};
             //***
             // F0
             ring_node_asm asm_ring_norm_f0      [ NB_RING_NODES_ASM_NORM_F0      ] = {0};
             ring_node_asm asm_ring_burst_sbm_f0 [ NB_RING_NODES_ASM_BURST_SBM_F0 ] = {0};
             ring_node ring_to_send_asm_f0       [ NB_RING_NODES_ASM_F0 ] = {0};
             int buffer_asm_f0                   [ NB_RING_NODES_ASM_F0 * TOTAL_SIZE_SM ] = {0};
             float asm_f0_patched_norm       [ TOTAL_SIZE_SM ] = {0};
             float asm_f0_patched_burst_sbm  [ TOTAL_SIZE_SM ] = {0};
             float asm_f0_reorganized        [ TOTAL_SIZE_SM ] = {0};
             float compressed_sm_norm_f0[ TOTAL_SIZE_COMPRESSED_ASM_NORM_F0] = {0};
             float compressed_sm_sbm_f0 [ TOTAL_SIZE_COMPRESSED_ASM_SBM_F0 ] = {0};
             float k_coeff_intercalib_f0_norm[ NB_BINS_COMPRESSED_SM_F0     * NB_K_COEFF_PER_BIN ] = {0}; // 11 * 32 = 352
             float k_coeff_intercalib_f0_sbm[  NB_BINS_COMPRESSED_SM_SBM_F0 * NB_K_COEFF_PER_BIN ] = {0}; // 22 * 32 = 704
             //************
             // RTEMS TASKS
             rtems_task avf0_task( rtems_task_argument lfrRequestedMode )
             {
                 int i;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id_prc0;
                 asm_msg msgForPRC;
                 ring_node *nodeForAveraging;
                 ring_node *ring_node_tab[NB_SM_BEFORE_AVF0_F1];
                 ring_node_asm *current_ring_node_asm_burst_sbm_f0;
                 ring_node_asm *current_ring_node_asm_norm_f0;
                 unsigned int nb_norm_bp1;
                 unsigned int nb_norm_bp2;
                 unsigned int nb_norm_asm;
                 unsigned int nb_sbm_bp1;
                 unsigned int nb_sbm_bp2;
                 nb_norm_bp1 = 0;
                 nb_norm_bp2 = 0;
                 nb_norm_asm = 0;
                 nb_sbm_bp1  = 0;
                 nb_sbm_bp2  = 0;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id_prc0 = RTEMS_ID_NONE;
                 reset_nb_sm_f0( lfrRequestedMode );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 ASM_generic_init_ring( asm_ring_norm_f0,      NB_RING_NODES_ASM_NORM_F0      );
                 ASM_generic_init_ring( asm_ring_burst_sbm_f0, NB_RING_NODES_ASM_BURST_SBM_F0 );
                 current_ring_node_asm_norm_f0      = asm_ring_norm_f0;
                 current_ring_node_asm_burst_sbm_f0 = asm_ring_burst_sbm_f0;
                 BOOT_PRINTF1("in AVFO *** lfrRequestedMode = %d\n", (int) lfrRequestedMode);
                 status = get_message_queue_id_prc0( &queue_id_prc0 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in MATR *** ERR get_message_queue_id_prc0 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     //****************************************
                     // initialize the mesage for the MATR task
                     msgForPRC.norm       = current_ring_node_asm_norm_f0;
                     msgForPRC.burst_sbm  = current_ring_node_asm_burst_sbm_f0;
                     msgForPRC.event      = EVENT_SETS_NONE_PENDING;  // this composite event will be sent to the PRC0 task
                     //
                     //****************************************
                     nodeForAveraging = getRingNodeForAveraging( 0 );
                     ring_node_tab[NB_SM_BEFORE_AVF0_F1-1] = nodeForAveraging;
                     for ( i = 1; i < (NB_SM_BEFORE_AVF0_F1); i++ )
                     {
                         nodeForAveraging = nodeForAveraging->previous;
                         ring_node_tab[NB_SM_BEFORE_AVF0_F1 - i - 1] = nodeForAveraging;
                     }
                     // compute the average and store it in the averaged_sm_f1 buffer
                     SM_average( current_ring_node_asm_norm_f0->matrix,
                                 current_ring_node_asm_burst_sbm_f0->matrix,
                                 ring_node_tab,
                                 nb_norm_bp1, nb_sbm_bp1,
                                 &msgForPRC, 0 );    // 0 => frequency channel 0
                     // update nb_average
                     nb_norm_bp1 = nb_norm_bp1 + NB_SM_BEFORE_AVF0_F1;
                     nb_norm_bp2 = nb_norm_bp2 + NB_SM_BEFORE_AVF0_F1;
                     nb_norm_asm = nb_norm_asm + NB_SM_BEFORE_AVF0_F1;
                     nb_sbm_bp1  = nb_sbm_bp1  + NB_SM_BEFORE_AVF0_F1;
                     nb_sbm_bp2  = nb_sbm_bp2  + NB_SM_BEFORE_AVF0_F1;
                     if (nb_sbm_bp1 == nb_sm_before_f0.burst_sbm_bp1)
                     {
                         nb_sbm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_burst_sbm_f0 = current_ring_node_asm_burst_sbm_f0->next;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_BURST_BP1_F0;
                         }
                         else if ( (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_SBM_BP1_F0;
                         }
                     }
                     if (nb_sbm_bp2 == nb_sm_before_f0.burst_sbm_bp2)
                     {
                         nb_sbm_bp2 = 0;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_BURST_BP2_F0;
                         }
                         else if ( (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_SBM_BP2_F0;
                         }
                     }
                     if (nb_norm_bp1 == nb_sm_before_f0.norm_bp1)
                     {
                         nb_norm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f0 = current_ring_node_asm_norm_f0->next;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_BP1_F0;
                         }
                     }
                     if (nb_norm_bp2 == nb_sm_before_f0.norm_bp2)
                     {
                         nb_norm_bp2 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_BP2_F0;
                         }
                     }
                     if (nb_norm_asm == nb_sm_before_f0.norm_asm)
                     {
                         nb_norm_asm = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_ASM_F0;
                         }
                     }
                     //*************************
                     // send the message to PRC
                     if (msgForPRC.event != EVENT_SETS_NONE_PENDING)
                     {
                         status =  rtems_message_queue_send( queue_id_prc0, (char *) &msgForPRC, MSG_QUEUE_SIZE_PRC0);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in AVF0 *** Error sending message to PRC, code %d\n", status)
                     }
                 }
             }
             rtems_task prc0_task( rtems_task_argument lfrRequestedMode )
             {
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 size_t size;                            // size of the incoming TC packet
                 asm_msg *incomingMsg;
                 //
                 unsigned char sid;
                 rtems_status_code status;
                 rtems_id queue_id;
                 rtems_id queue_id_q_p0;
                 bp_packet_with_spare    __attribute__((aligned(4))) packet_norm_bp1;
                 bp_packet               __attribute__((aligned(4))) packet_norm_bp2;
                 bp_packet               __attribute__((aligned(4))) packet_sbm_bp1;
                 bp_packet               __attribute__((aligned(4))) packet_sbm_bp2;
                 ring_node               *current_ring_node_to_send_asm_f0;
                 float nbSMInASMNORM;
                 float nbSMInASMSBM;
                 size = 0;
                 queue_id = RTEMS_ID_NONE;
                 queue_id_q_p0 = RTEMS_ID_NONE;
                 memset( &packet_norm_bp1,   0, sizeof(bp_packet_with_spare) );
                 memset( &packet_norm_bp2,   0, sizeof(bp_packet) );
                 memset( &packet_sbm_bp1,    0, sizeof(bp_packet) );
                 memset( &packet_sbm_bp2,    0, sizeof(bp_packet) );
                 // init the ring of the averaged spectral matrices which will be transmitted to the DPU
                 init_ring( ring_to_send_asm_f0, NB_RING_NODES_ASM_F0, (volatile int*) buffer_asm_f0, TOTAL_SIZE_SM );
                 current_ring_node_to_send_asm_f0 = ring_to_send_asm_f0;
                 //*************
                 // NORM headers
                 BP_init_header_with_spare( &packet_norm_bp1,
                                            APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F0,
                                            PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0, NB_BINS_COMPRESSED_SM_F0 );
                 BP_init_header( &packet_norm_bp2,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F0,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0, NB_BINS_COMPRESSED_SM_F0);
                 //****************************
                 // BURST SBM1 and SBM2 headers
                 if ( lfrRequestedMode == LFR_MODE_BURST )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP1_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP2_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                 }
                 else if ( lfrRequestedMode == LFR_MODE_SBM1 )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP1_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP2_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                 }
                 else if ( lfrRequestedMode == LFR_MODE_SBM2 )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP1_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP2_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                 }
                 else
                 {
                     PRINTF1("in PRC0 *** lfrRequestedMode is %d, several headers not initialized\n", (unsigned int) lfrRequestedMode)
                 }
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC0 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 status = get_message_queue_id_prc0( &queue_id_q_p0);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC0 *** ERR get_message_queue_id_prc0 %d\n", status)
                 }
                 BOOT_PRINTF1("in PRC0 *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 while(1){
                     status = rtems_message_queue_receive( queue_id_q_p0, incomingData, &size, //************************************
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );      // wait for a message coming from AVF0
                     incomingMsg = (asm_msg*) incomingData;
                     ASM_patch( incomingMsg->norm->matrix,      asm_f0_patched_norm      );
                     ASM_patch( incomingMsg->burst_sbm->matrix, asm_f0_patched_burst_sbm );
                     nbSMInASMNORM = incomingMsg->numberOfSMInASMNORM;
                     nbSMInASMSBM = incomingMsg->numberOfSMInASMSBM;
                     //****************
                     //****************
                     // BURST SBM1 SBM2
                     //****************
                     //****************
                     if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP1_F0 ) || (incomingMsg->event & RTEMS_EVENT_SBM_BP1_F0 ) )
                     {
                         sid = getSID( incomingMsg->event );
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide_mask( asm_f0_patched_burst_sbm, compressed_sm_sbm_f0,
                                                      nbSMInASMSBM,
                                                      NB_BINS_COMPRESSED_SM_SBM_F0, NB_BINS_TO_AVERAGE_ASM_SBM_F0,
                                                      ASM_F0_INDICE_START, CHANNELF0);
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_sbm_f0, k_coeff_intercalib_f0_sbm, NB_BINS_COMPRESSED_SM_SBM_F0, packet_sbm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_sbm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                         set_time( packet_sbm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                         packet_sbm_bp1.pa_bia_status_info = pa_bia_status_info;
                         packet_sbm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send_s1_s2( (char *) &packet_sbm_bp1, queue_id,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0 + PACKET_LENGTH_DELTA,
                                  sid);
                         // 4) compute the BP2 set if needed
                         if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP2_F0) || (incomingMsg->event & RTEMS_EVENT_SBM_BP2_F0) )
                         {
                             // 1) compute the BP2 set
                             BP2_set( compressed_sm_sbm_f0, NB_BINS_COMPRESSED_SM_SBM_F0, packet_sbm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_sbm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                             set_time( packet_sbm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                             packet_sbm_bp2.pa_bia_status_info = pa_bia_status_info;
                             packet_sbm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send_s1_s2( (char *) &packet_sbm_bp2, queue_id,
                                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0 + PACKET_LENGTH_DELTA,
                                      sid);
                         }
                     }
                     //*****
                     //*****
                     // NORM
                     //*****
                     //*****
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F0)
                     {
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide_mask( asm_f0_patched_norm, compressed_sm_norm_f0,
                                                      nbSMInASMNORM,
                                                      NB_BINS_COMPRESSED_SM_F0, NB_BINS_TO_AVERAGE_ASM_F0,
                                                      ASM_F0_INDICE_START, CHANNELF0 );
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_norm_f0, k_coeff_intercalib_f0_norm, NB_BINS_COMPRESSED_SM_F0, packet_norm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp1.pa_bia_status_info = pa_bia_status_info;
                         packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp1, queue_id,
                                   PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP1_F0 );
                         if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F0)
                         {
                             // 1) compute the BP2 set using the same ASM as the one used for BP1
                             BP2_set( compressed_sm_norm_f0, NB_BINS_COMPRESSED_SM_F0, packet_norm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                             set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                             packet_norm_bp2.pa_bia_status_info = pa_bia_status_info;
                             packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send( (char *) &packet_norm_bp2, queue_id,
                                       PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0 + PACKET_LENGTH_DELTA,
                                      SID_NORM_BP2_F0);
                         }
                     }
                     if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F0)
                     {
                         // 1) reorganize the ASM and divide
                         ASM_reorganize_and_divide( asm_f0_patched_norm,
                                                    (float*) current_ring_node_to_send_asm_f0->buffer_address,
                                                    nbSMInASMNORM );
                         current_ring_node_to_send_asm_f0->coarseTime    = incomingMsg->coarseTimeNORM;
                         current_ring_node_to_send_asm_f0->fineTime      = incomingMsg->fineTimeNORM;
                         current_ring_node_to_send_asm_f0->sid           = SID_NORM_ASM_F0;
                         // 3) send the spectral matrix packets
                         status =  rtems_message_queue_send( queue_id, &current_ring_node_to_send_asm_f0, sizeof( ring_node* ) );
                         // change asm ring node
                         current_ring_node_to_send_asm_f0 = current_ring_node_to_send_asm_f0->next;
                     }
                     update_queue_max_count( queue_id_q_p0, &hk_lfr_q_p0_fifo_size_max );
                 }
             }
             //**********
             // FUNCTIONS
             void reset_nb_sm_f0( unsigned char lfrMode )
             {
                 nb_sm_before_f0.norm_bp1 = parameter_dump_packet.sy_lfr_n_bp_p0 * NB_SM_PER_S_F0;
                 nb_sm_before_f0.norm_bp2 = parameter_dump_packet.sy_lfr_n_bp_p1 * NB_SM_PER_S_F0;
                 nb_sm_before_f0.norm_asm =
                         ( (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256) + parameter_dump_packet.sy_lfr_n_asm_p[1]) * NB_SM_PER_S_F0;
                 nb_sm_before_f0.sbm1_bp1 =  parameter_dump_packet.sy_lfr_s1_bp_p0 * NB_SM_PER_S1_BP_P0;     // 0.25 s per digit
                 nb_sm_before_f0.sbm1_bp2 =  parameter_dump_packet.sy_lfr_s1_bp_p1 * NB_SM_PER_S_F0;
                 nb_sm_before_f0.sbm2_bp1 =  parameter_dump_packet.sy_lfr_s2_bp_p0 * NB_SM_PER_S_F0;
                 nb_sm_before_f0.sbm2_bp2 =  parameter_dump_packet.sy_lfr_s2_bp_p1 * NB_SM_PER_S_F0;
                 nb_sm_before_f0.burst_bp1 =  parameter_dump_packet.sy_lfr_b_bp_p0 * NB_SM_PER_S_F0;
                 nb_sm_before_f0.burst_bp2 =  parameter_dump_packet.sy_lfr_b_bp_p1 * NB_SM_PER_S_F0;
                 if (lfrMode == LFR_MODE_SBM1)
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.sbm1_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.sbm1_bp2;
                 }
                 else if (lfrMode == LFR_MODE_SBM2)
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.sbm2_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.sbm2_bp2;
                 }
                 else if (lfrMode == LFR_MODE_BURST)
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.burst_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.burst_bp2;
                 }
                 else
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.burst_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.burst_bp2;
                 }
             }
             void init_k_coefficients_prc0( void )
             {
                 init_k_coefficients( k_coeff_intercalib_f0_norm, NB_BINS_COMPRESSED_SM_F0 );
                 init_kcoeff_sbm_from_kcoeff_norm( k_coeff_intercalib_f0_norm, k_coeff_intercalib_f0_sbm, NB_BINS_COMPRESSED_SM_F0);
             }

src/processing/avf1_prc1.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include "avf1_prc1.h"
             nb_sm_before_bp_asm_f1 nb_sm_before_f1 = {0};
             //***
             // F1
             ring_node_asm asm_ring_norm_f1      [ NB_RING_NODES_ASM_NORM_F1      ] = {0};
             ring_node_asm asm_ring_burst_sbm_f1 [ NB_RING_NODES_ASM_BURST_SBM_F1 ] = {0};
             ring_node ring_to_send_asm_f1       [ NB_RING_NODES_ASM_F1 ] = {0};
             int buffer_asm_f1                   [ NB_RING_NODES_ASM_F1 * TOTAL_SIZE_SM ] = {0};
             float asm_f1_patched_norm       [ TOTAL_SIZE_SM ] = {0};
             float asm_f1_patched_burst_sbm  [ TOTAL_SIZE_SM ] = {0};
             float asm_f1_reorganized        [ TOTAL_SIZE_SM ] = {0};
             float compressed_sm_norm_f1[ TOTAL_SIZE_COMPRESSED_ASM_NORM_F1] = {0};
             float compressed_sm_sbm_f1 [ TOTAL_SIZE_COMPRESSED_ASM_SBM_F1 ] = {0};
             float k_coeff_intercalib_f1_norm[ NB_BINS_COMPRESSED_SM_F1     * NB_K_COEFF_PER_BIN ] = {0};  // 13 * 32 = 416
             float k_coeff_intercalib_f1_sbm[  NB_BINS_COMPRESSED_SM_SBM_F1 * NB_K_COEFF_PER_BIN ] = {0};  // 26 * 32 = 832
             //************
             // RTEMS TASKS
             rtems_task avf1_task( rtems_task_argument lfrRequestedMode )
             {
                 int i;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id_prc1;
                 asm_msg msgForPRC;
                 ring_node *nodeForAveraging;
                 ring_node *ring_node_tab[NB_SM_BEFORE_AVF0_F1];
                 ring_node_asm *current_ring_node_asm_burst_sbm_f1;
                 ring_node_asm *current_ring_node_asm_norm_f1;
                 unsigned int nb_norm_bp1;
                 unsigned int nb_norm_bp2;
                 unsigned int nb_norm_asm;
                 unsigned int nb_sbm_bp1;
                 unsigned int nb_sbm_bp2;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id_prc1 = RTEMS_ID_NONE;
                 nb_norm_bp1 = 0;
                 nb_norm_bp2 = 0;
                 nb_norm_asm = 0;
                 nb_sbm_bp1  = 0;
                 nb_sbm_bp2  = 0;
                 reset_nb_sm_f1( lfrRequestedMode );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 ASM_generic_init_ring( asm_ring_norm_f1, NB_RING_NODES_ASM_NORM_F1 );
                 ASM_generic_init_ring( asm_ring_burst_sbm_f1, NB_RING_NODES_ASM_BURST_SBM_F1 );
                 current_ring_node_asm_norm_f1      = asm_ring_norm_f1;
                 current_ring_node_asm_burst_sbm_f1 = asm_ring_burst_sbm_f1;
                 BOOT_PRINTF1("in AVF1 *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 status = get_message_queue_id_prc1( &queue_id_prc1 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in AVF1 *** ERR get_message_queue_id_prc1 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     //****************************************
                     // initialize the mesage for the MATR task
                     msgForPRC.norm       = current_ring_node_asm_norm_f1;
                     msgForPRC.burst_sbm  = current_ring_node_asm_burst_sbm_f1;
                     msgForPRC.event      = EVENT_SETS_NONE_PENDING;  // this composite event will be sent to the PRC1 task
                     //
                     //****************************************
                     nodeForAveraging = getRingNodeForAveraging( 1 );
                     ring_node_tab[NB_SM_BEFORE_AVF0_F1-1] = nodeForAveraging;
                     for ( i = 1; i < (NB_SM_BEFORE_AVF0_F1); i++ )
                     {
                         nodeForAveraging = nodeForAveraging->previous;
                         ring_node_tab[NB_SM_BEFORE_AVF0_F1 - i - 1] = nodeForAveraging;
                     }
                     // compute the average and store it in the averaged_sm_f1 buffer
                     SM_average( current_ring_node_asm_norm_f1->matrix,
                                 current_ring_node_asm_burst_sbm_f1->matrix,
                                 ring_node_tab,
                                 nb_norm_bp1, nb_sbm_bp1,
                                 &msgForPRC, 1 );    // 1 => frequency channel 1
                     // update nb_average
                     nb_norm_bp1 = nb_norm_bp1 + NB_SM_BEFORE_AVF0_F1;
                     nb_norm_bp2 = nb_norm_bp2 + NB_SM_BEFORE_AVF0_F1;
                     nb_norm_asm = nb_norm_asm + NB_SM_BEFORE_AVF0_F1;
                     nb_sbm_bp1  = nb_sbm_bp1  + NB_SM_BEFORE_AVF0_F1;
                     nb_sbm_bp2  = nb_sbm_bp2  + NB_SM_BEFORE_AVF0_F1;
                     if (nb_sbm_bp1 == nb_sm_before_f1.burst_sbm_bp1)
                     {
                         nb_sbm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_burst_sbm_f1 = current_ring_node_asm_burst_sbm_f1->next;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_BURST_BP1_F1;
                         }
                         else if ( lfrCurrentMode == LFR_MODE_SBM2 )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_SBM_BP1_F1;
                         }
                     }
                     if (nb_sbm_bp2 == nb_sm_before_f1.burst_sbm_bp2)
                     {
                         nb_sbm_bp2 = 0;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_BURST_BP2_F1;
                         }
                         else if ( lfrCurrentMode == LFR_MODE_SBM2 )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_SBM_BP2_F1;
                         }
                     }
                     if (nb_norm_bp1 == nb_sm_before_f1.norm_bp1)
                     {
                         nb_norm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f1 = current_ring_node_asm_norm_f1->next;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_BP1_F1;
                         }
                     }
                     if (nb_norm_bp2 == nb_sm_before_f1.norm_bp2)
                     {
                         nb_norm_bp2 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_BP2_F1;
                         }
                     }
                     if (nb_norm_asm == nb_sm_before_f1.norm_asm)
                     {
                         nb_norm_asm = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_ASM_F1;
                         }
                     }
                     //*************************
                     // send the message to PRC
                     if (msgForPRC.event != EVENT_SETS_NONE_PENDING)
                     {
                         status =  rtems_message_queue_send( queue_id_prc1, (char *) &msgForPRC, MSG_QUEUE_SIZE_PRC1);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in AVF1 *** Error sending message to PRC1, code %d\n", status)
                     }
                 }
             }
             rtems_task prc1_task( rtems_task_argument lfrRequestedMode )
             {
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 size_t size;                             // size of the incoming TC packet
                 asm_msg *incomingMsg;
                 //
                 unsigned char sid;
                 rtems_status_code status;
                 rtems_id queue_id_send;
                 rtems_id queue_id_q_p1;
                 bp_packet_with_spare    __attribute__((aligned(4))) packet_norm_bp1;
                 bp_packet               __attribute__((aligned(4))) packet_norm_bp2;
                 bp_packet               __attribute__((aligned(4))) packet_sbm_bp1;
                 bp_packet               __attribute__((aligned(4))) packet_sbm_bp2;
                 ring_node               *current_ring_node_to_send_asm_f1;
                 float nbSMInASMNORM;
                 float nbSMInASMSBM;
                 size = 0;
                 queue_id_send = RTEMS_ID_NONE;
                 queue_id_q_p1 = RTEMS_ID_NONE;
                 memset( &packet_norm_bp1,   0, sizeof(bp_packet_with_spare) );
                 memset( &packet_norm_bp2,   0, sizeof(bp_packet) );
                 memset( &packet_sbm_bp1,    0, sizeof(bp_packet) );
                 memset( &packet_sbm_bp2,    0, sizeof(bp_packet) );
                 // init the ring of the averaged spectral matrices which will be transmitted to the DPU
                 init_ring( ring_to_send_asm_f1, NB_RING_NODES_ASM_F1, (volatile int*) buffer_asm_f1, TOTAL_SIZE_SM );
                 current_ring_node_to_send_asm_f1 = ring_to_send_asm_f1;
                 //*************
                 // NORM headers
                 BP_init_header_with_spare( &packet_norm_bp1,
                                            APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F1,
                                            PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F1, NB_BINS_COMPRESSED_SM_F1 );
                 BP_init_header( &packet_norm_bp2,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F1,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F1, NB_BINS_COMPRESSED_SM_F1);
                 //***********************
                 // BURST and SBM2 headers
                 if ( lfrRequestedMode == LFR_MODE_BURST )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP1_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP2_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                 }
                 else if ( lfrRequestedMode == LFR_MODE_SBM2 )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP1_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP2_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                 }
                 else
                 {
                     PRINTF1("in PRC1 *** lfrRequestedMode is %d, several headers not initialized\n", (unsigned int) lfrRequestedMode)
                 }
                 status = get_message_queue_id_send( &queue_id_send );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 status = get_message_queue_id_prc1( &queue_id_q_p1);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC1 *** ERR get_message_queue_id_prc1 %d\n", status)
                 }
                 BOOT_PRINTF1("in PRC1 *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 while(1){
                     status = rtems_message_queue_receive( queue_id_q_p1, incomingData, &size, //************************************
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );      // wait for a message coming from AVF0
                     incomingMsg = (asm_msg*) incomingData;
                     ASM_patch( incomingMsg->norm->matrix,      asm_f1_patched_norm      );
                     ASM_patch( incomingMsg->burst_sbm->matrix, asm_f1_patched_burst_sbm );
                     nbSMInASMNORM = incomingMsg->numberOfSMInASMNORM;
                     nbSMInASMSBM = incomingMsg->numberOfSMInASMSBM;
                     //***********
                     //***********
                     // BURST SBM2
                     //***********
                     //***********
                     if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP1_F1) || (incomingMsg->event & RTEMS_EVENT_SBM_BP1_F1) )
                     {
                         sid = getSID( incomingMsg->event );
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide_mask( asm_f1_patched_burst_sbm, compressed_sm_sbm_f1,
                                                      nbSMInASMSBM,
                                                      NB_BINS_COMPRESSED_SM_SBM_F1, NB_BINS_TO_AVERAGE_ASM_SBM_F1,
                                                      ASM_F1_INDICE_START, CHANNELF1);
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_sbm_f1, k_coeff_intercalib_f1_sbm, NB_BINS_COMPRESSED_SM_SBM_F1, packet_sbm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_sbm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                         set_time( packet_sbm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                         packet_sbm_bp1.pa_bia_status_info = pa_bia_status_info;
                         packet_sbm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send_s1_s2( (char *) &packet_sbm_bp1, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1 + PACKET_LENGTH_DELTA,
                                  sid );
                         // 4) compute the BP2 set if needed
                         if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP2_F1) || (incomingMsg->event & RTEMS_EVENT_SBM_BP2_F1) )
                         {
                             // 1) compute the BP2 set
                             BP2_set( compressed_sm_sbm_f1, NB_BINS_COMPRESSED_SM_SBM_F1, packet_sbm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_sbm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                             set_time( packet_sbm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                             packet_sbm_bp2.pa_bia_status_info = pa_bia_status_info;
                             packet_sbm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send_s1_s2( (char *) &packet_sbm_bp2, queue_id_send,
                                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1 + PACKET_LENGTH_DELTA,
                                      sid );
                         }
                     }
                     //*****
                     //*****
                     // NORM
                     //*****
                     //*****
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F1)
                     {
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide_mask( asm_f1_patched_norm, compressed_sm_norm_f1,
                                                      nbSMInASMNORM,
                                                      NB_BINS_COMPRESSED_SM_F1, NB_BINS_TO_AVERAGE_ASM_F1,
                                                      ASM_F1_INDICE_START, CHANNELF1 );
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_norm_f1, k_coeff_intercalib_f1_norm, NB_BINS_COMPRESSED_SM_F1, packet_norm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp1.pa_bia_status_info = pa_bia_status_info;
                         packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp1, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F1 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP1_F1 );
                         if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F1)
                         {
                             // 1) compute the BP2 set
                             BP2_set( compressed_sm_norm_f1, NB_BINS_COMPRESSED_SM_F1, packet_norm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                             set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                             packet_norm_bp2.pa_bia_status_info = pa_bia_status_info;
                             packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send( (char *) &packet_norm_bp2, queue_id_send,
                                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F1 + PACKET_LENGTH_DELTA,
                                      SID_NORM_BP2_F1 );
                         }
                     }
                     if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F1)
                     {
                         // 1) reorganize the ASM and divide
                         ASM_reorganize_and_divide( asm_f1_patched_norm,
                                                    (float*) current_ring_node_to_send_asm_f1->buffer_address,
                                                    nbSMInASMNORM );
                         current_ring_node_to_send_asm_f1->coarseTime    = incomingMsg->coarseTimeNORM;
                         current_ring_node_to_send_asm_f1->fineTime      = incomingMsg->fineTimeNORM;
                         current_ring_node_to_send_asm_f1->sid           = SID_NORM_ASM_F1;
                         // 3) send the spectral matrix packets
                         status =  rtems_message_queue_send( queue_id_send, &current_ring_node_to_send_asm_f1, sizeof( ring_node* ) );
                         // change asm ring node
                         current_ring_node_to_send_asm_f1 = current_ring_node_to_send_asm_f1->next;
                     }
                     update_queue_max_count( queue_id_q_p1, &hk_lfr_q_p1_fifo_size_max );
                 }
             }
             //**********
             // FUNCTIONS
             void reset_nb_sm_f1( unsigned char lfrMode )
             {
                 nb_sm_before_f1.norm_bp1  = parameter_dump_packet.sy_lfr_n_bp_p0 * NB_SM_PER_S_F1;
                 nb_sm_before_f1.norm_bp2  = parameter_dump_packet.sy_lfr_n_bp_p1 * NB_SM_PER_S_F1;
                 nb_sm_before_f1.norm_asm  =
                         ( (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256) + parameter_dump_packet.sy_lfr_n_asm_p[1]) * NB_SM_PER_S_F1;
                 nb_sm_before_f1.sbm2_bp1  =  parameter_dump_packet.sy_lfr_s2_bp_p0 * NB_SM_PER_S_F1;
                 nb_sm_before_f1.sbm2_bp2  =  parameter_dump_packet.sy_lfr_s2_bp_p1 * NB_SM_PER_S_F1;
                 nb_sm_before_f1.burst_bp1 =  parameter_dump_packet.sy_lfr_b_bp_p0 * NB_SM_PER_S_F1;
                 nb_sm_before_f1.burst_bp2 =  parameter_dump_packet.sy_lfr_b_bp_p1 * NB_SM_PER_S_F1;
                 if (lfrMode == LFR_MODE_SBM2)
                 {
                     nb_sm_before_f1.burst_sbm_bp1 =  nb_sm_before_f1.sbm2_bp1;
                     nb_sm_before_f1.burst_sbm_bp2 =  nb_sm_before_f1.sbm2_bp2;
                 }
                 else if (lfrMode == LFR_MODE_BURST)
                 {
                     nb_sm_before_f1.burst_sbm_bp1 =  nb_sm_before_f1.burst_bp1;
                     nb_sm_before_f1.burst_sbm_bp2 =  nb_sm_before_f1.burst_bp2;
                 }
                 else
                 {
                     nb_sm_before_f1.burst_sbm_bp1 =  nb_sm_before_f1.burst_bp1;
                     nb_sm_before_f1.burst_sbm_bp2 =  nb_sm_before_f1.burst_bp2;
                 }
             }
             void init_k_coefficients_prc1( void )
             {
                 init_k_coefficients( k_coeff_intercalib_f1_norm, NB_BINS_COMPRESSED_SM_F1 );
                 init_kcoeff_sbm_from_kcoeff_norm( k_coeff_intercalib_f1_norm, k_coeff_intercalib_f1_sbm, NB_BINS_COMPRESSED_SM_F1);
             }

src/processing/avf2_prc2.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include "avf2_prc2.h"
             nb_sm_before_bp_asm_f2 nb_sm_before_f2 = {0};
             //***
             // F2
             ring_node_asm asm_ring_norm_f2     [ NB_RING_NODES_ASM_NORM_F2      ] = {0};
             ring_node ring_to_send_asm_f2      [ NB_RING_NODES_ASM_F2 ] = {0};
             int buffer_asm_f2                  [ NB_RING_NODES_ASM_F2 * TOTAL_SIZE_SM ] = {0};
             float asm_f2_patched_norm   [ TOTAL_SIZE_SM ] = {0};
             float asm_f2_reorganized    [ TOTAL_SIZE_SM ] = {0};
             float compressed_sm_norm_f2[ TOTAL_SIZE_COMPRESSED_ASM_NORM_F2] = {0};
             float k_coeff_intercalib_f2[ NB_BINS_COMPRESSED_SM_F2 * NB_K_COEFF_PER_BIN ] = {0}; // 12 * 32 = 384
             //************
             // RTEMS TASKS
             //***
             // F2
             rtems_task avf2_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id_prc2;
                 asm_msg msgForPRC;
                 ring_node *nodeForAveraging;
                 ring_node_asm *current_ring_node_asm_norm_f2;
                 unsigned int nb_norm_bp1;
                 unsigned int nb_norm_bp2;
                 unsigned int nb_norm_asm;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id_prc2 = RTEMS_ID_NONE;
                 nb_norm_bp1 = 0;
                 nb_norm_bp2 = 0;
                 nb_norm_asm = 0;
                 reset_nb_sm_f2( );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 ASM_generic_init_ring( asm_ring_norm_f2, NB_RING_NODES_ASM_NORM_F2 );
                 current_ring_node_asm_norm_f2 = asm_ring_norm_f2;
                 BOOT_PRINTF("in AVF2 ***\n")
                 status = get_message_queue_id_prc2( &queue_id_prc2 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in AVF2 *** ERR get_message_queue_id_prc2 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     //****************************************
                     // initialize the mesage for the MATR task
                     msgForPRC.norm       = current_ring_node_asm_norm_f2;
                     msgForPRC.burst_sbm  = NULL;
                     msgForPRC.event      = EVENT_SETS_NONE_PENDING;  // this composite event will be sent to the PRC2 task
                     //
                     //****************************************
                     nodeForAveraging = getRingNodeForAveraging( CHANNELF2 );
                     // compute the average and store it in the averaged_sm_f2 buffer
                     SM_average_f2( current_ring_node_asm_norm_f2->matrix,
                                    nodeForAveraging,
                                    nb_norm_bp1,
                                    &msgForPRC );
                     // update nb_average
                     nb_norm_bp1 = nb_norm_bp1 + NB_SM_BEFORE_AVF2;
                     nb_norm_bp2 = nb_norm_bp2 + NB_SM_BEFORE_AVF2;
                     nb_norm_asm = nb_norm_asm + NB_SM_BEFORE_AVF2;
                     if (nb_norm_bp1 == nb_sm_before_f2.norm_bp1)
                     {
                         nb_norm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f2 = current_ring_node_asm_norm_f2->next;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_SBM1)
                              || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_BP1_F2;
                         }
                     }
                     if (nb_norm_bp2 == nb_sm_before_f2.norm_bp2)
                     {
                         nb_norm_bp2 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_SBM1)
                              || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_BP2_F2;
                         }
                     }
                     if (nb_norm_asm == nb_sm_before_f2.norm_asm)
                     {
                         nb_norm_asm = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_SBM1)
                              || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForPRC.event = msgForPRC.event | RTEMS_EVENT_NORM_ASM_F2;
                         }
                     }
                     //*************************
                     // send the message to PRC2
                     if (msgForPRC.event != EVENT_SETS_NONE_PENDING)
                     {
                         status =  rtems_message_queue_send( queue_id_prc2, (char *) &msgForPRC, MSG_QUEUE_SIZE_PRC2);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in AVF2 *** Error sending message to PRC2, code %d\n", status)
                     }
                 }
             }
             rtems_task prc2_task( rtems_task_argument argument )
             {
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 size_t size;                            // size of the incoming TC packet
                 asm_msg *incomingMsg;
                 //
                 rtems_status_code status;
                 rtems_id queue_id_send;
                 rtems_id queue_id_q_p2;
                 bp_packet                   __attribute__((aligned(4))) packet_norm_bp1;
                 bp_packet                   __attribute__((aligned(4))) packet_norm_bp2;
                 ring_node                   *current_ring_node_to_send_asm_f2;
                 float nbSMInASMNORM;
                 unsigned long long int localTime;
                 size = 0;
                 queue_id_send = RTEMS_ID_NONE;
                 queue_id_q_p2 = RTEMS_ID_NONE;
                 memset( &packet_norm_bp1, 0, sizeof(bp_packet) );
                 memset( &packet_norm_bp2, 0, sizeof(bp_packet) );
                 // init the ring of the averaged spectral matrices which will be transmitted to the DPU
                 init_ring( ring_to_send_asm_f2, NB_RING_NODES_ASM_F2, (volatile int*) buffer_asm_f2, TOTAL_SIZE_SM );
                 current_ring_node_to_send_asm_f2 = ring_to_send_asm_f2;
                 //*************
                 // NORM headers
                 BP_init_header( &packet_norm_bp1,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F2,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F2, NB_BINS_COMPRESSED_SM_F2 );
                 BP_init_header( &packet_norm_bp2,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F2,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F2, NB_BINS_COMPRESSED_SM_F2 );
                 status =  get_message_queue_id_send( &queue_id_send );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 status = get_message_queue_id_prc2( &queue_id_q_p2);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC2 *** ERR get_message_queue_id_prc2 %d\n", status)
                 }
                 BOOT_PRINTF("in PRC2 ***\n")
                 while(1){
                     status = rtems_message_queue_receive( queue_id_q_p2, incomingData, &size, //************************************
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );      // wait for a message coming from AVF2
                     incomingMsg = (asm_msg*) incomingData;
                     ASM_patch( incomingMsg->norm->matrix, asm_f2_patched_norm );
                     localTime = getTimeAsUnsignedLongLongInt( );
                     nbSMInASMNORM = incomingMsg->numberOfSMInASMNORM;
                     //*****
                     //*****
                     // NORM
                     //*****
                     //*****
                     // 1) compress the matrix for Basic Parameters calculation
                     ASM_compress_reorganize_and_divide_mask( asm_f2_patched_norm, compressed_sm_norm_f2,
                                                  nbSMInASMNORM,
                                                  NB_BINS_COMPRESSED_SM_F2, NB_BINS_TO_AVERAGE_ASM_F2,
                                                  ASM_F2_INDICE_START, CHANNELF2 );
                     // BP1_F2
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F2)
                     {
                         // 1) compute the BP1 set
                         BP1_set( compressed_sm_norm_f2, k_coeff_intercalib_f2, NB_BINS_COMPRESSED_SM_F2, packet_norm_bp1.data );
                         // 2) send the BP1 set
                         set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp1.pa_bia_status_info = pa_bia_status_info;
                         packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp1, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F2 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP1_F2 );
                     }
                     // BP2_F2
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F2)
                     {
                         // 1) compute the BP2 set
                         BP2_set( compressed_sm_norm_f2, NB_BINS_COMPRESSED_SM_F2, packet_norm_bp2.data );
                         // 2) send the BP2 set
                         set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp2.pa_bia_status_info = pa_bia_status_info;
                         packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp2, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F2 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP2_F2 );
                     }
                     if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F2)
                     {
                         // 1) reorganize the ASM and divide
                         ASM_reorganize_and_divide( asm_f2_patched_norm,
                                                    (float*) current_ring_node_to_send_asm_f2->buffer_address,
                                                    nb_sm_before_f2.norm_bp1 );
                         current_ring_node_to_send_asm_f2->coarseTime    = incomingMsg->coarseTimeNORM;
                         current_ring_node_to_send_asm_f2->fineTime      = incomingMsg->fineTimeNORM;
                         current_ring_node_to_send_asm_f2->sid           = SID_NORM_ASM_F2;
                         // 3) send the spectral matrix packets
                         status =  rtems_message_queue_send( queue_id_send, &current_ring_node_to_send_asm_f2, sizeof( ring_node* ) );
                         // change asm ring node
                         current_ring_node_to_send_asm_f2 = current_ring_node_to_send_asm_f2->next;
                     }
                     update_queue_max_count( queue_id_q_p2, &hk_lfr_q_p2_fifo_size_max );
                 }
             }
             //**********
             // FUNCTIONS
             void reset_nb_sm_f2( void )
             {
                 nb_sm_before_f2.norm_bp1  = parameter_dump_packet.sy_lfr_n_bp_p0;
                 nb_sm_before_f2.norm_bp2  = parameter_dump_packet.sy_lfr_n_bp_p1;
                 nb_sm_before_f2.norm_asm  = (parameter_dump_packet.sy_lfr_n_asm_p[0] * CONST_256) + parameter_dump_packet.sy_lfr_n_asm_p[1];
             }
             void SM_average_f2( float *averaged_spec_mat_f2,
                                 ring_node *ring_node,
                                 unsigned int nbAverageNormF2,
                                 asm_msg *msgForMATR )
             {
                 float sum;
                 unsigned int i;
                 unsigned char keepMatrix;
                 // test acquisitionTime validity
                 keepMatrix = acquisitionTimeIsValid( ring_node->coarseTime, ring_node->fineTime, CHANNELF2 );
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     sum = ( (int *) (ring_node->buffer_address) ) [ i ];
                     if ( (nbAverageNormF2 == 0) )   // average initialization
                     {
                         if (keepMatrix == MATRIX_IS_NOT_POLLUTED)   // keep the matrix and add it to the average
                         {
                             averaged_spec_mat_f2[ i ] = sum;
                         }
                         else                    // drop the matrix and initialize the average
                         {
                             averaged_spec_mat_f2[ i ] = INIT_FLOAT;
                         }
                         msgForMATR->coarseTimeNORM  = ring_node->coarseTime;
                         msgForMATR->fineTimeNORM    = ring_node->fineTime;
                     }
                     else
                     {
                         if (keepMatrix == MATRIX_IS_NOT_POLLUTED)   // keep the matrix and add it to the average
                         {
                             averaged_spec_mat_f2[ i ] = ( averaged_spec_mat_f2[  i ] + sum );
                         }
                         else
                         {
                             // nothing to do, the matrix is not valid
                         }
                     }
                 }
                 if (keepMatrix == 1)
                 {
                     if ( (nbAverageNormF2 == 0) )
                     {
                         msgForMATR->numberOfSMInASMNORM = 1;
                     }
                     else
                     {
                         msgForMATR->numberOfSMInASMNORM++;
                     }
                 }
                 else
                 {
                     if ( (nbAverageNormF2 == 0) )
                     {
                         msgForMATR->numberOfSMInASMNORM = 0;
                     }
                     else
                     {
                         // nothing to do
                     }
                 }
             }
             void init_k_coefficients_prc2( void )
             {
                 init_k_coefficients( k_coeff_intercalib_f2, NB_BINS_COMPRESSED_SM_F2);
             }

src/processing/fsw_processing.c +58 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include "fsw_processing.h"
             #include "fsw_processing_globals.c"
             #include "fsw_init.h"
             unsigned int nb_sm_f0       = 0;
             unsigned int nb_sm_f0_aux_f1= 0;
             unsigned int nb_sm_f1       = 0;
             unsigned int nb_sm_f0_aux_f2= 0;
             typedef enum restartState_t
             {
                 WAIT_FOR_F2,
                 WAIT_FOR_F1,
                 WAIT_FOR_F0
             } restartState;
             //************************
             // spectral matrices rings
             ring_node sm_ring_f0[ NB_RING_NODES_SM_F0 ] = {0};
             ring_node sm_ring_f1[ NB_RING_NODES_SM_F1 ] = {0};
             ring_node sm_ring_f2[ NB_RING_NODES_SM_F2 ] = {0};
             ring_node *current_ring_node_sm_f0      = NULL;
             ring_node *current_ring_node_sm_f1      = NULL;
             ring_node *current_ring_node_sm_f2      = NULL;
             ring_node *ring_node_for_averaging_sm_f0= NULL;
             ring_node *ring_node_for_averaging_sm_f1= NULL;
             ring_node *ring_node_for_averaging_sm_f2= NULL;
             //
             ring_node * getRingNodeForAveraging( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case CHANNELF0:
                     node = ring_node_for_averaging_sm_f0;
                     break;
                 case CHANNELF1:
                     node = ring_node_for_averaging_sm_f1;
                     break;
                 case CHANNELF2:
                     node = ring_node_for_averaging_sm_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             void spectral_matrices_isr_f0( int statusReg )
             {
                 unsigned char status;
                 rtems_status_code status_code;
                 ring_node *full_ring_node;
                 status = (unsigned char) (statusReg & BITS_STATUS_F0);   // [0011] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case BIT_READY_0_1:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = BIT_READY_0_1;   // [0011]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case BIT_READY_0:
                     full_ring_node = current_ring_node_sm_f0->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f0_0_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f0_0_fine_time;
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f0 = nb_sm_f0 + 1;
                     if (nb_sm_f0 == NB_SM_BEFORE_AVF0_F1)
                     {
                         ring_node_for_averaging_sm_f0 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f0 = 0;
                     }
                     spectral_matrix_regs->status = BIT_READY_0;   // [0000 0001]
                     break;
                 case BIT_READY_1:
                     full_ring_node = current_ring_node_sm_f0->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f0_1_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f0_1_fine_time;
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f0 = nb_sm_f0 + 1;
                     if (nb_sm_f0 == NB_SM_BEFORE_AVF0_F1)
                     {
                         ring_node_for_averaging_sm_f0 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f0 = 0;
                     }
                     spectral_matrix_regs->status = BIT_READY_1;   // [0000 0010]
                     break;
                 default:
                     break;
                 }
             }
             void spectral_matrices_isr_f1( int statusReg )
             {
                 rtems_status_code status_code;
                 unsigned char status;
                 ring_node *full_ring_node;
                 status = (unsigned char) ((statusReg & BITS_STATUS_F1) >> SHIFT_2_BITS);   // [1100] get the status_ready_matrix_f1_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case BIT_READY_0_1:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = BITS_STATUS_F1;   // [1100]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case BIT_READY_0:
                     full_ring_node = current_ring_node_sm_f1->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f1_0_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f1_0_fine_time;
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_0_address = current_ring_node_sm_f1->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f1 = nb_sm_f1 + 1;
                     if (nb_sm_f1 == NB_SM_BEFORE_AVF0_F1)
                     {
                         ring_node_for_averaging_sm_f1 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f1 = 0;
                     }
                     spectral_matrix_regs->status = BIT_STATUS_F1_0;   // [0000 0100]
                     break;
                 case BIT_READY_1:
                     full_ring_node = current_ring_node_sm_f1->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f1_1_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f1_1_fine_time;
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_1_address = current_ring_node_sm_f1->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f1 = nb_sm_f1 + 1;
                     if (nb_sm_f1 == NB_SM_BEFORE_AVF0_F1)
                     {
                         ring_node_for_averaging_sm_f1 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f1 = 0;
                     }
                     spectral_matrix_regs->status = BIT_STATUS_F1_1;   // [1000 0000]
                     break;
                 default:
                     break;
                 }
             }
             void spectral_matrices_isr_f2( int statusReg )
             {
                 unsigned char status;
                 rtems_status_code status_code;
                 status = (unsigned char) ((statusReg & BITS_STATUS_F2) >> SHIFT_4_BITS);   // [0011 0000] get the status_ready_matrix_f2_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case BIT_READY_0_1:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = BITS_STATUS_F2;   // [0011 0000]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case BIT_READY_0:
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2->previous;
                     current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                     ring_node_for_averaging_sm_f2->coarseTime = spectral_matrix_regs->f2_0_coarse_time;
                     ring_node_for_averaging_sm_f2->fineTime = spectral_matrix_regs->f2_0_fine_time;
                     spectral_matrix_regs->f2_0_address = current_ring_node_sm_f2->buffer_address;
                     spectral_matrix_regs->status = BIT_STATUS_F2_0;   // [0001 0000]
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 case BIT_READY_1:
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2->previous;
                     current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                     ring_node_for_averaging_sm_f2->coarseTime = spectral_matrix_regs->f2_1_coarse_time;
                     ring_node_for_averaging_sm_f2->fineTime = spectral_matrix_regs->f2_1_fine_time;
                     spectral_matrix_regs->f2_1_address = current_ring_node_sm_f2->buffer_address;
                     spectral_matrix_regs->status = BIT_STATUS_F2_1;   // [0010 0000]
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 default:
                     break;
                 }
             }
             void spectral_matrix_isr_error_handler( int statusReg )
             {
                 // STATUS REGISTER
                 // input_fifo_write(2) *** input_fifo_write(1) *** input_fifo_write(0)
                 //           10                    9                       8
                 // buffer_full ** [bad_component_err] ** f2_1 ** f2_0 ** f1_1 ** f1_0 ** f0_1 ** f0_0
                 //      7                  6             5       4       3       2       1       0
                 // [bad_component_err] not defined in the last version of the VHDL code
                 rtems_status_code status_code;
                 //***************************************************
                 // the ASM status register is copied in the HK packet
                 housekeeping_packet.hk_lfr_vhdl_aa_sm = (unsigned char) ((statusReg & BITS_HK_AA_SM) >> SHIFT_7_BITS);    // [0111 1000 0000]
                 if (statusReg & BITS_SM_ERR)    // [0111 1100 0000]
                 {
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                 }
                 spectral_matrix_regs->status = spectral_matrix_regs->status & BITS_SM_ERR;
             }
             rtems_isr spectral_matrices_isr( rtems_vector_number vector )
             {
                 // STATUS REGISTER
                 // input_fifo_write(2) *** input_fifo_write(1) *** input_fifo_write(0)
                 //           10                    9                       8
                 // buffer_full ** bad_component_err ** f2_1 ** f2_0 ** f1_1 ** f1_0 ** f0_1 ** f0_0
                 //      7                  6             5       4       3       2       1       0
                 int statusReg;
                 static restartState state = WAIT_FOR_F2;
                 statusReg = spectral_matrix_regs->status;
                 if (thisIsAnASMRestart == 0)
                 {   // this is not a restart sequence, process incoming matrices normally
                     spectral_matrices_isr_f0( statusReg );
                     spectral_matrices_isr_f1( statusReg );
                     spectral_matrices_isr_f2( statusReg );
                 }
                 else
                 {   // a restart sequence has to be launched
                     switch (state) {
                     case WAIT_FOR_F2:
                         if ((statusReg & BITS_STATUS_F2) != INIT_CHAR)   // [0011 0000] check the status_ready_matrix_f2_x bits
                         {
                             state = WAIT_FOR_F1;
                         }
                         break;
                     case WAIT_FOR_F1:
                         if ((statusReg & BITS_STATUS_F1) != INIT_CHAR)   // [0000 1100] check the status_ready_matrix_f1_x bits
                         {
                             state = WAIT_FOR_F0;
                         }
                         break;
                     case WAIT_FOR_F0:
                         if ((statusReg & BITS_STATUS_F0) != INIT_CHAR)   // [0000 0011] check the status_ready_matrix_f0_x bits
                         {
                             state = WAIT_FOR_F2;
                             thisIsAnASMRestart = 0;
                         }
                         break;
                     default:
                         break;
                     }
                     reset_sm_status();
                 }
                 spectral_matrix_isr_error_handler( statusReg );
             }
             //******************
             // Spectral Matrices
             void reset_nb_sm( void )
             {
                 nb_sm_f0 = 0;
                 nb_sm_f0_aux_f1 = 0;
                 nb_sm_f0_aux_f2 = 0;
                 nb_sm_f1 = 0;
             }
             void SM_init_rings( void )
             {
                 init_ring( sm_ring_f0, NB_RING_NODES_SM_F0, sm_f0, TOTAL_SIZE_SM );
                 init_ring( sm_ring_f1, NB_RING_NODES_SM_F1, sm_f1, TOTAL_SIZE_SM );
                 init_ring( sm_ring_f2, NB_RING_NODES_SM_F2, sm_f2, TOTAL_SIZE_SM );
                 DEBUG_PRINTF1("sm_ring_f0 @%x\n", (unsigned int) sm_ring_f0)
                 DEBUG_PRINTF1("sm_ring_f1 @%x\n", (unsigned int) sm_ring_f1)
                 DEBUG_PRINTF1("sm_ring_f2 @%x\n", (unsigned int) sm_ring_f2)
                 DEBUG_PRINTF1("sm_f0 @%x\n", (unsigned int) sm_f0)
                 DEBUG_PRINTF1("sm_f1 @%x\n", (unsigned int) sm_f1)
                 DEBUG_PRINTF1("sm_f2 @%x\n", (unsigned int) sm_f2)
             }
             void ASM_generic_init_ring( ring_node_asm *ring, unsigned char nbNodes )
             {
                 unsigned char i;
                 ring[ nbNodes - 1 ].next
                         = (ring_node_asm*) &ring[ 0 ];
                 for(i=0; i<nbNodes-1; i++)
                 {
                     ring[ i ].next            = (ring_node_asm*) &ring[ i + 1 ];
                 }
             }
             void SM_reset_current_ring_nodes( void )
             {
                 current_ring_node_sm_f0 = sm_ring_f0[0].next;
                 current_ring_node_sm_f1 = sm_ring_f1[0].next;
                 current_ring_node_sm_f2 = sm_ring_f2[0].next;
                 ring_node_for_averaging_sm_f0 = NULL;
                 ring_node_for_averaging_sm_f1 = NULL;
                 ring_node_for_averaging_sm_f2 = NULL;
             }
             //*****************
             // Basic Parameters
             void BP_init_header( bp_packet *packet,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength, unsigned char blkNr )
             {
                 packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 packet->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 packet->reserved = INIT_CHAR;
                 packet->userApplication = CCSDS_USER_APP;
                 packet->packetID[0] = (unsigned char) (apid >> SHIFT_1_BYTE);
                 packet->packetID[1] = (unsigned char) (apid);
                 packet->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 packet->packetSequenceControl[1] = INIT_CHAR;
                 packet->packetLength[0] = (unsigned char) (packetLength >> SHIFT_1_BYTE);
                 packet->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 packet->spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 packet->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 packet->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 packet->destinationID = TM_DESTINATION_ID_GROUND;
                 packet->time[BYTE_0] = INIT_CHAR;
                 packet->time[BYTE_1] = INIT_CHAR;
                 packet->time[BYTE_2] = INIT_CHAR;
                 packet->time[BYTE_3] = INIT_CHAR;
                 packet->time[BYTE_4] = INIT_CHAR;
                 packet->time[BYTE_5] = INIT_CHAR;
                 // AUXILIARY DATA HEADER
                 packet->sid = sid;
                 packet->pa_bia_status_info = INIT_CHAR;
                 packet->sy_lfr_common_parameters_spare = INIT_CHAR;
                 packet->sy_lfr_common_parameters = INIT_CHAR;
                 packet->acquisitionTime[BYTE_0] = INIT_CHAR;
                 packet->acquisitionTime[BYTE_1] = INIT_CHAR;
                 packet->acquisitionTime[BYTE_2] = INIT_CHAR;
                 packet->acquisitionTime[BYTE_3] = INIT_CHAR;
                 packet->acquisitionTime[BYTE_4] = INIT_CHAR;
                 packet->acquisitionTime[BYTE_5] = INIT_CHAR;
                 packet->pa_lfr_bp_blk_nr[0] = INIT_CHAR;  // BLK_NR MSB
                 packet->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_init_header_with_spare( bp_packet_with_spare *packet,
                                             unsigned int apid, unsigned char sid,
                                             unsigned int packetLength , unsigned char blkNr)
             {
                 packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 packet->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 packet->reserved = INIT_CHAR;
                 packet->userApplication = CCSDS_USER_APP;
                 packet->packetID[0] = (unsigned char) (apid >> SHIFT_1_BYTE);
                 packet->packetID[1] = (unsigned char) (apid);
                 packet->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 packet->packetSequenceControl[1] = INIT_CHAR;
                 packet->packetLength[0] = (unsigned char) (packetLength >> SHIFT_1_BYTE);
                 packet->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 packet->spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 packet->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 packet->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 packet->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 packet->sid = sid;
                 packet->pa_bia_status_info = INIT_CHAR;
                 packet->sy_lfr_common_parameters_spare = INIT_CHAR;
                 packet->sy_lfr_common_parameters = INIT_CHAR;
                 packet->time[BYTE_0] = INIT_CHAR;
                 packet->time[BYTE_1] = INIT_CHAR;
                 packet->time[BYTE_2] = INIT_CHAR;
                 packet->time[BYTE_3] = INIT_CHAR;
                 packet->time[BYTE_4] = INIT_CHAR;
                 packet->time[BYTE_5] = INIT_CHAR;
                 packet->source_data_spare = INIT_CHAR;
                 packet->pa_lfr_bp_blk_nr[0] = INIT_CHAR;  // BLK_NR MSB
                 packet->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_send(char *data, rtems_id queue_id, unsigned int nbBytesToSend, unsigned int sid )
             {
                 rtems_status_code status;
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, data, nbBytesToSend);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in BP_send *** ERR %d\n", (int) status)
                 }
             }
             void BP_send_s1_s2(char *data, rtems_id queue_id, unsigned int nbBytesToSend, unsigned int sid )
             {
                 /** This function is used to send the BP paquets when needed.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return void
                  *
                  * SBM1 and SBM2 paquets are sent depending on the type of the LFR mode transition.
                  * BURST paquets are sent everytime.
                  *
                  */
                 rtems_status_code status;
                 // SEND PACKET
                 // before lastValidTransitionDate, the data are drops even if they are ready
                 // this guarantees that no SBM packets will be received before the requested enter mode time
                 if ( time_management_regs->coarse_time >= lastValidEnterModeTime)
                 {
                     status =  rtems_message_queue_send( queue_id, data, nbBytesToSend);
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("ERR *** in BP_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             //******************
             // general functions
             void reset_sm_status( void )
             {
                 // error
                 // 10 --------------- 9 ---------------- 8 ---------------- 7 ---------
                 // input_fif0_write_2 input_fifo_write_1 input_fifo_write_0 buffer_full
                 // ---------- 5 -- 4 -- 3 -- 2 -- 1 -- 0 --
                 // ready bits f2_1 f2_0 f1_1 f1_1 f0_1 f0_0
                 spectral_matrix_regs->status = BITS_STATUS_REG;   // [0111 1111 1111]
             }
             void reset_spectral_matrix_regs( void )
             {
                 /** This function resets the spectral matrices module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  *
                  * - 0x00 config
                  * - 0x04 status
                  * - 0x08 matrixF0_Address0
                  * - 0x10 matrixFO_Address1
                  * - 0x14 matrixF1_Address
                  * - 0x18 matrixF2_Address
                  *
                  */
                 set_sm_irq_onError( 0 );
                 set_sm_irq_onNewMatrix( 0 );
                 reset_sm_status();
                 // F1
                 spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->previous->buffer_address;
                 spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                 // F2
                 spectral_matrix_regs->f1_0_address = current_ring_node_sm_f1->previous->buffer_address;
                 spectral_matrix_regs->f1_1_address = current_ring_node_sm_f1->buffer_address;
                 // F3
                 spectral_matrix_regs->f2_0_address = current_ring_node_sm_f2->previous->buffer_address;
                 spectral_matrix_regs->f2_1_address = current_ring_node_sm_f2->buffer_address;
                 spectral_matrix_regs->matrix_length = DEFAULT_MATRIX_LENGTH; // 25 * 128 / 16 = 200 = 0xc8
             }
             void set_time( unsigned char *time, unsigned char * timeInBuffer )
             {
                 time[BYTE_0] = timeInBuffer[BYTE_0];
                 time[BYTE_1] = timeInBuffer[BYTE_1];
                 time[BYTE_2] = timeInBuffer[BYTE_2];
                 time[BYTE_3] = timeInBuffer[BYTE_3];
                 time[BYTE_4] = timeInBuffer[BYTE_6];
                 time[BYTE_5] = timeInBuffer[BYTE_7];
             }
             unsigned long long int get_acquisition_time( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTimeAslong;
                 acquisitionTimeAslong = INIT_CHAR;
                 acquisitionTimeAslong =
                         ( (unsigned long long int) (timePtr[BYTE_0] & SYNC_BIT_MASK) << SHIFT_5_BYTES ) // [0111 1111] mask the synchronization bit
                         + ( (unsigned long long int) timePtr[BYTE_1] << SHIFT_4_BYTES )
                         + ( (unsigned long long int) timePtr[BYTE_2] << SHIFT_3_BYTES )
                         + ( (unsigned long long int) timePtr[BYTE_3] << SHIFT_2_BYTES )
                         + ( (unsigned long long int) timePtr[BYTE_6] << SHIFT_1_BYTE  )
                         + ( (unsigned long long int) timePtr[BYTE_7]       );
                 return acquisitionTimeAslong;
             }
             unsigned char getSID( rtems_event_set event )
             {
                 unsigned char sid;
                 rtems_event_set eventSetBURST;
                 rtems_event_set eventSetSBM;
                 sid = 0;
                 //******
                 // BURST
                 eventSetBURST = RTEMS_EVENT_BURST_BP1_F0
                         | RTEMS_EVENT_BURST_BP1_F1
                         | RTEMS_EVENT_BURST_BP2_F0
                         | RTEMS_EVENT_BURST_BP2_F1;
                 //****
                 // SBM
                 eventSetSBM = RTEMS_EVENT_SBM_BP1_F0
                         | RTEMS_EVENT_SBM_BP1_F1
                         | RTEMS_EVENT_SBM_BP2_F0
                         | RTEMS_EVENT_SBM_BP2_F1;
                 if (event & eventSetBURST)
                 {
                     sid = SID_BURST_BP1_F0;
                 }
                 else if (event & eventSetSBM)
                 {
                     sid = SID_SBM1_BP1_F0;
                 }
                 else
                 {
                     sid = 0;
                 }
                 return sid;
             }
+            /**
+             * @brief extractReImVectors converts a given ASM component from interleaved to split representation
+             * @param inputASM
+             * @param outputASM
+             * @param asmComponent
+             */
             void extractReImVectors( float *inputASM, float *outputASM, unsigned int asmComponent )
             {
                 unsigned int i;
                 float re;
                 float im;
                 for (i=0; i<NB_BINS_PER_SM; i++){
                     re = inputASM[ (asmComponent*NB_BINS_PER_SM) + (i * SM_BYTES_PER_VAL)    ];
                     im = inputASM[ (asmComponent*NB_BINS_PER_SM) + (i * SM_BYTES_PER_VAL) + 1];
                     outputASM[ ( asmComponent   *NB_BINS_PER_SM) +  i] = re;
                     outputASM[ ((asmComponent+1)*NB_BINS_PER_SM) +  i] = im;
                 }
             }
+            /**
+             * @brief copyReVectors copies real part of a given ASM from inputASM to outputASM
+             * @param inputASM
+             * @param outputASM
+             * @param asmComponent
+             */
             void copyReVectors( float *inputASM, float *outputASM, unsigned int asmComponent )
             {
                 unsigned int i;
                 float re;
                 for (i=0; i<NB_BINS_PER_SM; i++){
                     re = inputASM[ (asmComponent*NB_BINS_PER_SM) + i];
                     outputASM[ (asmComponent*NB_BINS_PER_SM)  +  i] = re;
                 }
             }
+            /**
+             * @brief ASM_patch, converts ASM from interleaved to split representation
+             * @param inputASM
+             * @param outputASM
+             * @note inputASM and outputASM must be different, in other words this function can't do in place convertion
+             * @see extractReImVectors
+             */
             void ASM_patch( float *inputASM, float *outputASM )
             {
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B1B2);    // b1b2
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B1B3 );   // b1b3
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B1E1 );   // b1e1
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B1E2 );   // b1e2
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B2B3 );   // b2b3
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B2E1 );   // b2e1
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B2E2 );   // b2e2
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B3E1 );   // b3e1
                 extractReImVectors( inputASM, outputASM, ASM_COMP_B3E2 );   // b3e2
                 extractReImVectors( inputASM, outputASM, ASM_COMP_E1E2 );   // e1e2
                 copyReVectors(inputASM, outputASM, ASM_COMP_B1B1 );     // b1b1
                 copyReVectors(inputASM, outputASM, ASM_COMP_B2B2 );     // b2b2
                 copyReVectors(inputASM, outputASM, ASM_COMP_B3B3);      // b3b3
                 copyReVectors(inputASM, outputASM, ASM_COMP_E1E1);      // e1e1
                 copyReVectors(inputASM, outputASM, ASM_COMP_E2E2);      // e2e2
             }
             void ASM_compress_reorganize_and_divide_mask(float *averaged_spec_mat, float *compressed_spec_mat , float divider,
                                                          unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage,
                                                          unsigned char ASMIndexStart,
                                                          unsigned char channel )
             {
                 //*************
                 // input format
                 // component0[0 .. 127] component1[0 .. 127] .. component24[0 .. 127]
                 //**************
                 // output format
                 // matr0[0 .. 24]      matr1[0 .. 24]       .. matr127[0 .. 24]
                 //************
                 // compression
                 // matr0[0 .. 24]      matr1[0 .. 24]       .. matr11[0 .. 24] => f0 NORM
                 // matr0[0 .. 24]      matr1[0 .. 24]       .. matr22[0 .. 24] => f0 BURST, SBM
                 int frequencyBin;
                 int asmComponent;
                 int offsetASM;
                 int offsetCompressed;
                 int offsetFBin;
                 int fBinMask;
                 int k;
                 // BUILD DATA
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < nbBinsCompressedMatrix; frequencyBin++ )
                     {
                         offsetCompressed =  // NO TIME OFFSET
                                 (frequencyBin * NB_VALUES_PER_SM)
                                 + asmComponent;
                         offsetASM =         // NO TIME OFFSET
                                 (asmComponent * NB_BINS_PER_SM)
                                 + ASMIndexStart
                                 + (frequencyBin * nbBinsToAverage);
                         offsetFBin = ASMIndexStart
                                 + (frequencyBin * nbBinsToAverage);
                         compressed_spec_mat[ offsetCompressed ] = 0;
                         for ( k = 0; k < nbBinsToAverage; k++ )
                         {
                             fBinMask = getFBinMask( offsetFBin + k, channel );
                             compressed_spec_mat[offsetCompressed ] = compressed_spec_mat[ offsetCompressed ]
                                     + (averaged_spec_mat[ offsetASM + k ] * fBinMask);
                         }
                         if (divider != 0)
                         {
                             compressed_spec_mat[ offsetCompressed ] = compressed_spec_mat[ offsetCompressed ] / (divider * nbBinsToAverage);
                         }
                         else
                         {
                             compressed_spec_mat[ offsetCompressed ] = INIT_FLOAT;
                         }
                     }
                 }
             }
             int getFBinMask( int index, unsigned char channel )
             {
                 unsigned int indexInChar;
                 unsigned int indexInTheChar;
                 int fbin;
                 unsigned char *sy_lfr_fbins_fx_word1;
                 sy_lfr_fbins_fx_word1 = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                 switch(channel)
                 {
                 case CHANNELF0:
                     sy_lfr_fbins_fx_word1 = fbins_masks.merged_fbins_mask_f0;
                     break;
                 case CHANNELF1:
                     sy_lfr_fbins_fx_word1 = fbins_masks.merged_fbins_mask_f1;
                     break;
                 case CHANNELF2:
                     sy_lfr_fbins_fx_word1 = fbins_masks.merged_fbins_mask_f2;
                     break;
                 default:
                     PRINTF("ERR *** in getFBinMask, wrong frequency channel")
                 }
                 indexInChar = index >> SHIFT_3_BITS;
                 indexInTheChar = index - (indexInChar * BITS_PER_BYTE);
                 fbin = (int) ((sy_lfr_fbins_fx_word1[ BYTES_PER_MASK - 1 - indexInChar] >> indexInTheChar) & 1);
                 return fbin;
             }
+            /**
+             * @brief isPolluted returns MATRIX_IS_POLLUTED if there is any overlap between t0:t1 and tbad0:tbad1 ranges
+             * @param t0 Start acquisition time
+             * @param t1 End of acquisition time
+             * @param tbad0 Start time of poluting signal
+             * @param tbad1 End time of poluting signal
+             * @return
+             */
             unsigned char isPolluted( u_int64_t t0, u_int64_t t1, u_int64_t tbad0, u_int64_t tbad1 )
             {
                 unsigned char polluted;
                 polluted = MATRIX_IS_NOT_POLLUTED;
                 if ( ((tbad0 < t0) && (t0 < tbad1))     // t0 is inside the polluted range
                      || ((tbad0 < t1) && (t1 < tbad1))  // t1 is inside the polluted range
                      || ((t0 < tbad0) && (tbad1 < t1))  // the polluted range is inside the signal range
                      || ((tbad0 < t0) && (t1 < tbad1))) // the signal range is inside the polluted range
                 {
                     polluted = MATRIX_IS_POLLUTED;
                 }
                 return polluted;
             }
+            /**
+             * @brief acquisitionTimeIsValid checks if the given acquisition time is poluted by PAS
+             * @param coarseTime Coarse acquisition time of the given SM
+             * @param fineTime Fine acquisition time of the given ASM
+             * @param channel Frequency channel to check, will impact SM time footprint
+             * @return MATRIX_IS_POLLUTED if there is any time overlap between SM and PAS poluting signal
+             */
             unsigned char acquisitionTimeIsValid( unsigned int coarseTime, unsigned int fineTime, unsigned char channel)
             {
                 u_int64_t t0;
                 u_int64_t t1;
                 u_int64_t tc;
                 u_int64_t tbad0;
                 u_int64_t tbad1;
                 u_int64_t modulusInFineTime;
                 u_int64_t offsetInFineTime;
                 u_int64_t shiftInFineTime;
                 u_int64_t tbadInFineTime;
                 u_int64_t timecodeReference;
                 unsigned char pasFilteringIsEnabled;
                 unsigned char ret;
                 // compute acquisition time from caoarseTime and fineTime
                 t0 = ( ((u_int64_t)coarseTime) <<  SHIFT_2_BYTES ) + (u_int64_t) fineTime;
                 t1 = t0;
                 tc = t0;
                 tbad0 = t0;
                 tbad1 = t0;
                 switch(channel)
                 {
                 case CHANNELF0:
                     t1 = t0 + ACQUISITION_DURATION_F0;
                     tc = t0 + HALF_ACQUISITION_DURATION_F0;
                     break;
                 case CHANNELF1:
                     t1 = t0 + ACQUISITION_DURATION_F1;
                     tc = t0 + HALF_ACQUISITION_DURATION_F1;
                     break;
                 case CHANNELF2:
                     t1 = t0 + ACQUISITION_DURATION_F2;
                     tc = t0 + HALF_ACQUISITION_DURATION_F2;
                     break;
                 default:
                     break;
                 }
                 // compute the acquitionTime range
                 modulusInFineTime   = filterPar.modulus_in_finetime;
                 offsetInFineTime    = filterPar.offset_in_finetime;
                 shiftInFineTime     = filterPar.shift_in_finetime;
                 tbadInFineTime      = filterPar.tbad_in_finetime;
                 timecodeReference   = INIT_INT;
                 pasFilteringIsEnabled = (filterPar.spare_sy_lfr_pas_filter_enabled & 1); // [0000 0001]
                 ret = MATRIX_IS_NOT_POLLUTED;
                 if ( (tbadInFineTime == 0) || (pasFilteringIsEnabled == 0) )
                 {
                     ret = MATRIX_IS_NOT_POLLUTED;
                 }
                 else
                 {
                     // INTERSECTION TEST #1
                     timecodeReference = (tc - (tc % modulusInFineTime)) - modulusInFineTime ;
                     tbad0 = timecodeReference + offsetInFineTime + shiftInFineTime;
                     tbad1 = timecodeReference + offsetInFineTime + shiftInFineTime + tbadInFineTime;
                     ret = isPolluted( t0, t1, tbad0, tbad1 );
                     // INTERSECTION TEST #2
                     if (ret == MATRIX_IS_NOT_POLLUTED)
                     {
                         timecodeReference = (tc - (tc % modulusInFineTime)) ;
                         tbad0 = timecodeReference + offsetInFineTime + shiftInFineTime;
                         tbad1 = timecodeReference + offsetInFineTime + shiftInFineTime + tbadInFineTime;
                         ret = isPolluted( t0, t1, tbad0, tbad1 );
                     }
                     // INTERSECTION TEST #3
                     if (ret == MATRIX_IS_NOT_POLLUTED)
                     {
                         timecodeReference = (tc - (tc % modulusInFineTime)) + modulusInFineTime ;
                         tbad0 = timecodeReference + offsetInFineTime + shiftInFineTime;
                         tbad1 = timecodeReference + offsetInFineTime + shiftInFineTime + tbadInFineTime;
                         ret = isPolluted( t0, t1, tbad0, tbad1 );
                     }
                 }
                 return ret;
             }
             void init_kcoeff_sbm_from_kcoeff_norm(float *input_kcoeff, float *output_kcoeff, unsigned char nb_bins_norm)
             {
                 unsigned char bin;
                 unsigned char kcoeff;
                 for (bin=0; bin<nb_bins_norm; bin++)
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         output_kcoeff[   ( (bin * NB_K_COEFF_PER_BIN) + kcoeff ) * SBM_COEFF_PER_NORM_COEFF       ]
                                 = input_kcoeff[ (bin*NB_K_COEFF_PER_BIN) + kcoeff ];
                         output_kcoeff[ ( ( (bin * NB_K_COEFF_PER_BIN ) + kcoeff) * SBM_COEFF_PER_NORM_COEFF ) + 1 ]
                                 = input_kcoeff[ (bin*NB_K_COEFF_PER_BIN) + kcoeff ];
                     }
                 }
             }

src/tc_acceptance.c +23 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions related to TeleCommand acceptance.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands parsing.\n
              *
              */
             #include "tc_acceptance.h"
             #include <stdio.h>
             unsigned int lookUpTableForCRC[CONST_256] = {0};
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 /** This function generate the CRC for one byte and returns the value of the new syndrome.
                  *
                  * @param D is the current byte of data.
                  * @param Chk is the current syndrom value.
                  *
                  * @return the value of the new syndrome on two bytes.
                  *
                  */
                 return(((Chk << SHIFT_1_BYTE) & BYTE0_MASK)^lookUpTableForCRC [(((Chk >> SHIFT_1_BYTE)^D) & BYTE1_MASK)]);
             }
             void initLookUpTableForCRC( void )
             {
                 /** This function is used to initiates the look-up table for fast CRC computation.
                  *
                  * The global table lookUpTableForCRC[256] is initiated.
                  *
                  */
                 unsigned int i;
                 unsigned int tmp;
                 for (i=0; i<CONST_256; i++)
                 {
                     tmp = 0;
                     if((i & BIT_0) != 0) {
                         tmp = tmp ^ CONST_CRC_0;
                     }
                     if((i & BIT_1) != 0) {
                         tmp = tmp ^ CONST_CRC_1;
                     }
                     if((i & BIT_2) != 0) {
                         tmp = tmp ^ CONST_CRC_2;
                     }
                     if((i & BIT_3) != 0) {
                         tmp = tmp ^ CONST_CRC_3;
                     }
                     if((i & BIT_4) != 0) {
                         tmp = tmp ^ CONST_CRC_4;
                     }
                     if((i & BIT_5) != 0) {
                         tmp = tmp ^ CONST_CRC_5;
                     }
                     if((i & BIT_6) != 0) {
                         tmp = tmp ^ CONST_CRC_6;
                     }
                     if((i & BIT_7) != 0) {
                         tmp = tmp ^ CONST_CRC_7;
                     }
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 /** This function calculates a two bytes Cyclic Redundancy Code.
                  *
                  * @param data points to a buffer containing the data on which to compute the CRC.
                  * @param crcAsTwoBytes points points to a two bytes buffer in which the CRC is stored.
                  * @param sizeOfData is the number of bytes of *data* used to compute the CRC.
                  *
                  * The specification of the Cyclic Redundancy Code is described in the following document: ECSS-E-70-41-A.
                  *
                  */
                 unsigned int Chk;
                 int j;
                 Chk = CRC_RESET; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> SHIFT_1_BYTE);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & BYTE1_MASK);
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             int tc_parser(ccsdsTelecommandPacket_t * TCPacket, unsigned int estimatedPacketLength, unsigned char *computed_CRC)
             {
                 /** This function parses TeleCommands.
                  *
                  * @param TC points to the TeleCommand that will be parsed.
                  * @param estimatedPacketLength is the PACKET_LENGTH field calculated from the effective length of the received packet.
                  *
                  * @return Status code of the parsing.
                  *
                  * The parsing checks:
                  * - process id
                  * - category
                  * - length: a global check is performed and a per subtype check also
                  * - type
                  * - subtype
                  * - crc
                  *
                  */
                 int status;
                 int status_crc;
                 unsigned char pid;
                 unsigned char category;
                 unsigned int packetLength;
                 unsigned char packetType;
                 unsigned char packetSubtype;
                 unsigned char sid;
                 status = CCSDS_TM_VALID;
                 // APID check *** APID on 2 bytes
                 pid             = ((TCPacket->packetID[0] & BITS_PID_0) << SHIFT_4_BITS)
                         + ( (TCPacket->packetID[1] >> SHIFT_4_BITS) & BITS_PID_1 );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category        = (TCPacket->packetID[1] & BITS_CAT);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 packetLength    = (TCPacket->packetLength[0] * CONST_256) + TCPacket->packetLength[1];
                 packetType      = TCPacket->serviceType;
                 packetSubtype   = TCPacket->serviceSubType;
                 sid             = TCPacket->sourceID;
                 if ( pid != CCSDS_PROCESS_ID )  // CHECK THE PROCESS ID
                 {
                     status = ILLEGAL_APID;
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE CATEGORY
                 {
                     if ( category != CCSDS_PACKET_CATEGORY )
                     {
                         status = ILLEGAL_APID;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE PACKET_LENGTH FIELD AND THE ESTIMATED PACKET_LENGTH COMPLIANCE
                 {
                     if (packetLength != estimatedPacketLength ) {
                         status = WRONG_LEN_PKT;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THAT THE PACKET DOES NOT EXCEED THE MAX SIZE
                 {
                     if ( packetLength > CCSDS_TC_PKT_MAX_SIZE ) {
                         status = WRONG_LEN_PKT;
                     }
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE TYPE
                 {
                     status = tc_check_type( packetType );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE
                 {
                     status = tc_check_type_subtype( packetType, packetSubtype );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SID
                 {
                     status = tc_check_sid( sid );
                 }
                 if (status == CCSDS_TM_VALID)   // CHECK THE SUBTYPE AND LENGTH COMPLIANCE
                 {
                     status = tc_check_length( packetSubtype, packetLength );
                 }
                 status_crc = tc_check_crc( TCPacket, estimatedPacketLength, computed_CRC );
                 if (status == CCSDS_TM_VALID )  // CHECK CRC
                 {
                     status = status_crc;
                 }
                 return status;
             }
             int tc_check_type( unsigned char packetType )
             {
                 /** This function checks that the type of a TeleCommand is valid.
                  *
                  * @param packetType is the type to check.
                  *
                  * @return Status code CCSDS_TM_VALID or ILL_TYPE.
                  *
                  */
                 int status;
                 status = ILL_TYPE;
                 if ( (packetType == TC_TYPE_GEN) || (packetType == TC_TYPE_TIME))
                 {
                     status = CCSDS_TM_VALID;
                 }
                 else
                 {
                     status = ILL_TYPE;
                 }
                 return status;
             }
             int tc_check_type_subtype( unsigned char packetType, unsigned char packetSubType )
             {
                 /** This function checks that the subtype of a TeleCommand is valid and coherent with the type.
                  *
                  * @param packetType is the type of the TC.
                  * @param packetSubType is the subtype to check.
                  *
                  * @return Status code CCSDS_TM_VALID or ILL_SUBTYPE.
                  *
                  */
                 int status;
                 switch(packetType)
                 {
                 case TC_TYPE_GEN:
                     if ( (packetSubType == TC_SUBTYPE_RESET)
                          || (packetSubType == TC_SUBTYPE_LOAD_COMM)
                          || (packetSubType == TC_SUBTYPE_LOAD_NORM) || (packetSubType == TC_SUBTYPE_LOAD_BURST)
                          || (packetSubType == TC_SUBTYPE_LOAD_SBM1) || (packetSubType == TC_SUBTYPE_LOAD_SBM2)
                          || (packetSubType == TC_SUBTYPE_DUMP)
                          || (packetSubType == TC_SUBTYPE_ENTER)
                          || (packetSubType == TC_SUBTYPE_UPDT_INFO)
                          || (packetSubType == TC_SUBTYPE_EN_CAL)    || (packetSubType == TC_SUBTYPE_DIS_CAL)
                          || (packetSubType == TC_SUBTYPE_LOAD_K)    || (packetSubType == TC_SUBTYPE_DUMP_K)
                          || (packetSubType == TC_SUBTYPE_LOAD_FBINS)
                          || (packetSubType == TC_SUBTYPE_LOAD_FILTER_PAR))
                     {
                         status = CCSDS_TM_VALID;
                     }
                     else
                     {
                         status = ILL_SUBTYPE;
                     }
                     break;
                 case TC_TYPE_TIME:
                     if (packetSubType == TC_SUBTYPE_UPDT_TIME)
                     {
                         status = CCSDS_TM_VALID;
                     }
                     else
                     {
                         status = ILL_SUBTYPE;
                     }
                     break;
                 default:
                     status = ILL_SUBTYPE;
                     break;
                 }
                 return status;
             }
             int tc_check_sid( unsigned char sid )
             {
                 /** This function checks that the sid of a TeleCommand is valid.
                  *
                  * @param sid is the sid to check.
                  *
                  * @return Status code CCSDS_TM_VALID or CORRUPTED.
                  *
                  */
                 int status;
                 status = WRONG_SRC_ID;
                 if ( (sid == SID_TC_MISSION_TIMELINE) || (sid == SID_TC_TC_SEQUENCES)   || (sid == SID_TC_RECOVERY_ACTION_CMD)
                      || (sid == SID_TC_BACKUP_MISSION_TIMELINE)
                      || (sid == SID_TC_DIRECT_CMD)       || (sid == SID_TC_SPARE_GRD_SRC1) || (sid == SID_TC_SPARE_GRD_SRC2)
                      || (sid == SID_TC_OBCP)             || (sid == SID_TC_SYSTEM_CONTROL) || (sid == SID_TC_AOCS)
                      || (sid == SID_TC_RPW_INTERNAL))
                 {
                     status = CCSDS_TM_VALID;
                 }
                 else
                 {
                     status = WRONG_SRC_ID;
                 }
                 return status;
             }
             int tc_check_length( unsigned char packetSubType, unsigned int length )
             {
                 /** This function checks that the subtype and the length are compliant.
                  *
                  * @param packetSubType is the subtype to check.
                  * @param length is the length to check.
                  *
                  * @return Status code CCSDS_TM_VALID or ILL_TYPE.
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 switch(packetSubType)
                 {
                 case TC_SUBTYPE_RESET:
                     if (length!=(TC_LEN_RESET-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_COMM:
                     if (length!=(TC_LEN_LOAD_COMM-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_NORM:
                     if (length!=(TC_LEN_LOAD_NORM-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_BURST:
                     if (length!=(TC_LEN_LOAD_BURST-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_SBM1:
                     if (length!=(TC_LEN_LOAD_SBM1-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_SBM2:
                     if (length!=(TC_LEN_LOAD_SBM2-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DUMP:
                     if (length!=(TC_LEN_DUMP-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_ENTER:
                     if (length!=(TC_LEN_ENTER-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_UPDT_INFO:
                     if (length!=(TC_LEN_UPDT_INFO-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_EN_CAL:
                     if (length!=(TC_LEN_EN_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DIS_CAL:
                     if (length!=(TC_LEN_DIS_CAL-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_K:
                     if (length!=(TC_LEN_LOAD_K-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_DUMP_K:
                     if (length!=(TC_LEN_DUMP_K-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_FBINS:
                     if (length!=(TC_LEN_LOAD_FBINS-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_LOAD_FILTER_PAR:
                     if (length!=(TC_LEN_LOAD_FILTER_PAR-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 case TC_SUBTYPE_UPDT_TIME:
                     if (length!=(TC_LEN_UPDT_TIME-CCSDS_TC_TM_PACKET_OFFSET)) {
                         status = WRONG_LEN_PKT;
                     }
                     else {
                         status = CCSDS_TM_VALID;
                     }
                     break;
                 default: // if the subtype is not a legal value, return ILL_SUBTYPE
                     status = ILL_SUBTYPE;
                     break    ;
                 }
                 return status;
             }
             int tc_check_crc( ccsdsTelecommandPacket_t * TCPacket, unsigned int length, unsigned char *computed_CRC )
             {
                 /** This function checks the CRC validity of the corresponding TeleCommand packet.
                  *
                  * @param TCPacket points to the TeleCommand packet to check.
                  * @param length is the length of the TC packet.
                  *
                  * @return Status code CCSDS_TM_VALID or INCOR_CHECKSUM.
                  *
                  */
                 int status;
                 unsigned char * CCSDSContent;
                 status = INCOR_CHECKSUM;
                 CCSDSContent = (unsigned char*) TCPacket->packetID;
                 GetCRCAsTwoBytes(CCSDSContent, computed_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - BYTES_PER_CRC); // 2 CRC bytes removed from the calculation of the CRC
                 if (computed_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET - BYTES_PER_CRC]) {
                     status = INCOR_CHECKSUM;
                 }
                 else if (computed_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) {
                     status = INCOR_CHECKSUM;
                 }
                 else {
                     status = CCSDS_TM_VALID;
                 }
                 return status;
             }

src/tc_handler.c +23 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions and tasks related to TeleCommand handling.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands:\n
              * action launching\n
              * TC parsing\n
              * ...
              *
              */
             #include "tc_handler.h"
             #include "math.h"
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                  * on the incoming TeleCommand.
                  *
                  */
                 int result;
                 rtems_status_code status;       // RTEMS status code
                 ccsdsTelecommandPacket_t __attribute__((aligned(4))) TC;    // TC sent to the ACTN task
                 size_t size;                    // size of the incoming TC packet
                 unsigned char subtype;          // subtype of the current TC packet
                 unsigned char time[BYTES_PER_TIME];
                 rtems_id queue_rcv_id;
                 rtems_id queue_snd_id;
                 memset(&TC, 0, sizeof(ccsdsTelecommandPacket_t));
                 size = 0;
                 queue_rcv_id = RTEMS_ID_NONE;
                 queue_snd_id = RTEMS_ID_NONE;
                 status =  get_message_queue_id_recv( &queue_rcv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_snd_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
                 }
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 BOOT_PRINTF("in ACTN *** \n");
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                           RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     getTime( time );    // set time to the current time
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     }
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                         case TC_SUBTYPE_RESET:
                             result = action_reset( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_COMM:
                             result = action_load_common_par( &TC );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_NORM:
                             result = action_load_normal_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_BURST:
                             result = action_load_burst_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_SBM1:
                             result = action_load_sbm1_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_SBM2:
                             result = action_load_sbm2_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DUMP:
                             result = action_dump_par( &TC,  queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_ENTER:
                             result = action_enter_mode( &TC, queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_UPDT_INFO:
                             result = action_update_info( &TC, queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_EN_CAL:
                             result = action_enable_calibration( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DIS_CAL:
                             result = action_disable_calibration( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_K:
                             result = action_load_kcoefficients( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DUMP_K:
                             result = action_dump_kcoefficients( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_FBINS:
                             result = action_load_fbins_mask( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_FILTER_PAR:
                             result = action_load_filter_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_UPDT_TIME:
                             result = action_update_time( &TC );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         default:
                             break;
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 PRINTF("this is the end!!!\n");
                 exit(0);
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 return LFR_DEFAULT;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 unsigned int transitionCoarseTime;
                 unsigned char * bytePosPtr;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 requestedMode = bytePosPtr[ BYTE_POS_CP_MODE_LFR_SET ];
                 copyInt32ByChar( (char*) &transitionCoarseTime, &bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME ] );
                 transitionCoarseTime = transitionCoarseTime & COARSE_TIME_MASK;
                 status = check_mode_value( requestedMode );
                 if ( status != LFR_SUCCESSFUL )     // the mode value is inconsistent
                 {
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_MODE_LFR_SET, requestedMode );
                 }
                 else                                // the mode value is valid, check the transition
                 {
                     status = check_mode_transition(requestedMode);
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_mode_transition\n")
                                 send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the transition is valid, check the date
                 {
                     status = check_transition_date( transitionCoarseTime );
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_transition_date\n");
                         send_tm_lfr_tc_exe_not_executable(TC, queue_id );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the date is valid, enter the mode
                 {
                     PRINTF1("OK  *** in action_enter_mode *** enter mode %d\n", requestedMode);
                     switch(requestedMode)
                     {
                     case LFR_MODE_STANDBY:
                         status = enter_mode_standby();
                         break;
                     case LFR_MODE_NORMAL:
                         status = enter_mode_normal( transitionCoarseTime );
                         break;
                     case LFR_MODE_BURST:
                         status = enter_mode_burst( transitionCoarseTime );
                         break;
                     case LFR_MODE_SBM1:
                         status = enter_mode_sbm1( transitionCoarseTime );
                         break;
                     case LFR_MODE_SBM2:
                         status = enter_mode_sbm2( transitionCoarseTime );
                         break;
                     default:
                         break;
                     }
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         status = LFR_EXE_ERROR;
                     }
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR directive status code:
                  * - LFR_DEFAULT
                  * - LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 unsigned int status;
                 unsigned char mode;
                 unsigned char * bytePosPtr;
                 int pos;
                 float value;
                 pos = INIT_CHAR;
                 value = INIT_FLOAT;
                 status = LFR_DEFAULT;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 // check LFR mode
                 mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET5 ] & BITS_LFR_MODE) >> SHIFT_LFR_MODE;
                 status = check_update_info_hk_lfr_mode( mode );
                 if (status == LFR_SUCCESSFUL)  // check TDS mode
                 {
                     mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & BITS_TDS_MODE) >> SHIFT_TDS_MODE;
                     status = check_update_info_hk_tds_mode( mode );
                 }
                 if (status == LFR_SUCCESSFUL)  // check THR mode
                 {
                     mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & BITS_THR_MODE);
                     status = check_update_info_hk_thr_mode( mode );
                 }
                 if (status == LFR_SUCCESSFUL) // check reaction wheels frequencies
                 {
                     status = check_all_sy_lfr_rw_f(TC, &pos, &value);
                 }
                 // if the parameters checking succeeds, udpate all parameters
                 if (status == LFR_SUCCESSFUL)
                 {
                     // pa_bia_status_info
                     // => pa_bia_mode_mux_set       3 bits
                     // => pa_bia_mode_hv_enabled    1 bit
                     // => pa_bia_mode_bias1_enabled 1 bit
                     // => pa_bia_mode_bias2_enabled 1 bit
                     // => pa_bia_mode_bias3_enabled 1 bit
                     // => pa_bia_on_off (cp_dpu_bias_on_off)
                     pa_bia_status_info = bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET2 ] & BITS_BIA; // [1111 1110]
                     pa_bia_status_info = pa_bia_status_info
                             | (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET1 ] & 1);
                     // REACTION_WHEELS_FREQUENCY, copy the incoming parameters in the local variable (to be copied in HK packets)
                     getReactionWheelsFrequencies( TC );
                     set_hk_lfr_sc_rw_f_flags();
                     build_sy_lfr_rw_masks();
                     // once the masks are built, they have to be merged with the fbins_mask
                     merge_fbins_masks();
                     // increase the TC_LFR_UPDATE_INFO counter
                     if (status == LFR_SUCCESSFUL)  // if the parameter check is successful
                     {
                         val = (housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * CONST_256)
                                 + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                         val++;
                         housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> SHIFT_1_BYTE);
                         housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                     }
                 }
                 return status;
             }
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 result = LFR_DEFAULT;
                 setCalibration( true );
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 result = LFR_DEFAULT;
                 setCalibration( false );
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[BYTE_0] << SHIFT_3_BYTES)
                         + (TC->dataAndCRC[BYTE_1] << SHIFT_2_BYTES)
                         + (TC->dataAndCRC[BYTE_2] << SHIFT_1_BYTE)
                         + TC->dataAndCRC[BYTE_3];
                 val = (housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * CONST_256)
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
                 oneTcLfrUpdateTimeReceived = 1;
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int check_mode_value( unsigned char requestedMode )
             {
                 int status;
                 status = LFR_DEFAULT;
                 if ( (requestedMode != LFR_MODE_STANDBY)
                      && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                      && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                 {
                     status = LFR_DEFAULT;
                 }
                 else
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 return status;
             }
             int check_mode_transition( unsigned char requestedMode )
             {
                 /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
                  *
                  * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
                  *
                  * @return LFR directive status codes:
                  * - LFR_SUCCESSFUL - the transition is authorized
                  * - LFR_DEFAULT - the transition is not authorized
                  *
                  */
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             void update_last_valid_transition_date( unsigned int transitionCoarseTime )
             {
                 if (transitionCoarseTime == 0)
                 {
                     lastValidEnterModeTime = time_management_regs->coarse_time + 1;
                     PRINTF1("lastValidEnterModeTime = 0x%x (transitionCoarseTime = 0 => coarse_time+1)\n", lastValidEnterModeTime);
                 }
                 else
                 {
                     lastValidEnterModeTime = transitionCoarseTime;
                     PRINTF1("lastValidEnterModeTime = 0x%x\n", transitionCoarseTime);
                 }
             }
             int check_transition_date( unsigned int transitionCoarseTime )
             {
                 int status;
                 unsigned int localCoarseTime;
                 unsigned int deltaCoarseTime;
                 status = LFR_SUCCESSFUL;
                 if (transitionCoarseTime == 0)  // transition time = 0 means an instant transition
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     localCoarseTime = time_management_regs->coarse_time & COARSE_TIME_MASK;
                     PRINTF2("localTime = %x, transitionTime = %x\n", localCoarseTime, transitionCoarseTime);
                     if ( transitionCoarseTime <= localCoarseTime )   // SSS-CP-EQS-322
                     {
                         status = LFR_DEFAULT;
                         PRINTF("ERR *** in check_transition_date *** transitionCoarseTime <= localCoarseTime\n");
                     }
                     if (status == LFR_SUCCESSFUL)
                     {
                         deltaCoarseTime = transitionCoarseTime - localCoarseTime;
                         if ( deltaCoarseTime > MAX_DELTA_COARSE_TIME )  // SSS-CP-EQS-323
                         {
                             status = LFR_DEFAULT;
                             PRINTF1("ERR *** in check_transition_date *** deltaCoarseTime = %x\n", deltaCoarseTime)
                         }
                     }
                 }
                 return status;
             }
             int restart_asm_activities( unsigned char lfrRequestedMode )
             {
                 rtems_status_code status;
                 status = stop_spectral_matrices();
                 thisIsAnASMRestart = 1;
                 status = restart_asm_tasks( lfrRequestedMode );
                 launch_spectral_matrix();
                 return status;
             }
             int stop_spectral_matrices( void )
             {
                 /** This function stops and restarts the current mode average spectral matrices activities.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // (1) mask interruptions
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // mask spectral matrix interrupt
                 // (2) reset spectral matrices registers
                 set_sm_irq_onNewMatrix( 0 );                    // stop the spectral matrices
                 reset_sm_status();
                 // (3) clear interruptions
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_asm_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 return status;
             }
             int stop_current_mode( void )
             {
                 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // (1) mask interruptions
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );     // clear spectral matrix interrupt
                 // (2) reset waveform picker registers
                 reset_wfp_burst_enable();                       // reset burst and enable bits
                 reset_wfp_status();                             // reset all the status bits
                 // (3) reset spectral matrices registers
                 set_sm_irq_onNewMatrix( 0 );                    // stop the spectral matrices
                 reset_sm_status();
                 // reset lfr VHDL module
                 reset_lfr();
                 reset_extractSWF();                             // reset the extractSWF flag to false
                 // (4) clear interruptions
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 return status;
             }
             int enter_mode_standby( void )
             {
                 /** This function is used to put LFR in the STANDBY mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The STANDBY mode does not depends on a specific transition date, the effect of the TC_LFR_ENTER_MODE
                  * is immediate.
                  *
                  */
                 int status;
                 status = stop_current_mode();       // STOP THE CURRENT MODE
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                 PRINTF("stack report selected\n")
                 rtems_stack_checker_report_usage();
             #endif
                 return status;
             }
             int enter_mode_normal( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the NORMAL mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the NORMAL mode is started depends on the LFR current mode. If LFR is in SBM1 or SBM2,
                  * the snapshots are not restarted, only ASM, BP and CWF data generation are affected.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = RTEMS_UNSATISFIED;
                 switch( lfrCurrentMode )
                 {
                 case LFR_MODE_STANDBY:
                     status = restart_science_tasks( LFR_MODE_NORMAL ); // restart science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_NORMAL, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_BURST:
                     status = stop_current_mode();           // stop the current mode
                     status = restart_science_tasks( LFR_MODE_NORMAL ); // restart the science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_NORMAL, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_SBM1:
                     status = restart_asm_activities( LFR_MODE_NORMAL ); // this is necessary to restart ASM tasks to update the parameters
                     status = LFR_SUCCESSFUL;                   // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 case LFR_MODE_SBM2:
                     status = restart_asm_activities( LFR_MODE_NORMAL ); // this is necessary to restart ASM tasks to update the parameters
                     status = LFR_SUCCESSFUL;                   // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 default:
                     break;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_normal *** status = %d\n", status)
                             status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_mode_burst( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the BURST mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the BURST mode is started does not depend on the LFR current mode.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = stop_current_mode();           // stop the current mode
                 status = restart_science_tasks( LFR_MODE_BURST ); // restart the science tasks
                 if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                 {
                     launch_spectral_matrix( );
                     launch_waveform_picker( LFR_MODE_BURST, transitionCoarseTime );
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_burst *** status = %d\n", status)
                             status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_mode_sbm1( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the SBM1 mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the SBM1 mode is started depends on the LFR current mode. If LFR is in NORMAL or SBM2,
                  * the snapshots are not restarted, only ASM, BP and CWF data generation are affected. In other
                  * cases, the acquisition is completely restarted.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = RTEMS_UNSATISFIED;
                 switch( lfrCurrentMode )
                 {
                 case LFR_MODE_STANDBY:
                     status = restart_science_tasks( LFR_MODE_SBM1 ); // restart science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM1, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_NORMAL:                       // lfrCurrentMode will be updated after the execution of close_action
                     status = restart_asm_activities( LFR_MODE_SBM1 );
                     status = LFR_SUCCESSFUL;
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 case LFR_MODE_BURST:
                     status = stop_current_mode();           // stop the current mode
                     status = restart_science_tasks( LFR_MODE_SBM1 ); // restart the science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM1, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_SBM2:
                     status = restart_asm_activities( LFR_MODE_SBM1 );
                     status = LFR_SUCCESSFUL;                // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 default:
                     break;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_sbm1 *** status = %d\n", status);
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int enter_mode_sbm2( unsigned int transitionCoarseTime )
             {
                 /** This function is used to start the SBM2 mode.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * The way the SBM2 mode is started depends on the LFR current mode. If LFR is in NORMAL or SBM1,
                  * the snapshots are not restarted, only ASM, BP and CWF data generation are affected. In other
                  * cases, the acquisition is completely restarted.
                  *
                  */
                 int status;
             #ifdef PRINT_TASK_STATISTICS
                 rtems_cpu_usage_reset();
             #endif
                 status = RTEMS_UNSATISFIED;
                 switch( lfrCurrentMode )
                 {
                 case LFR_MODE_STANDBY:
                     status = restart_science_tasks( LFR_MODE_SBM2 ); // restart science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM2, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     status = restart_asm_activities( LFR_MODE_SBM2 );
                     status = LFR_SUCCESSFUL;                // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 case LFR_MODE_BURST:
                     status = stop_current_mode();           // stop the current mode
                     status = restart_science_tasks( LFR_MODE_SBM2 ); // restart the science tasks
                     if (status == RTEMS_SUCCESSFUL)         // relaunch spectral_matrix and waveform_picker modules
                     {
                         launch_spectral_matrix( );
                         launch_waveform_picker( LFR_MODE_SBM2, transitionCoarseTime );
                     }
                     break;
                 case LFR_MODE_SBM1:
                     status = restart_asm_activities( LFR_MODE_SBM2 );
                     status = LFR_SUCCESSFUL;                // lfrCurrentMode will be updated after the execution of close_action
                     update_last_valid_transition_date( transitionCoarseTime );
                     break;
                 default:
                     break;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode_sbm2 *** status = %d\n", status)
                             status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int restart_science_tasks( unsigned char lfrRequestedMode )
             {
                 /** This function is used to restart all science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * Science tasks are AVF0, PRC0, WFRM, CWF3, CW2, CWF1
                  *
                  */
                 rtems_status_code status[NB_SCIENCE_TASKS];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[STATUS_0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode );
                 if (status[STATUS_0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[STATUS_0])
                 }
                 status[STATUS_1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[STATUS_1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[STATUS_1])
                 }
                 status[STATUS_2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[STATUS_2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** WFRM ERR %d\n", status[STATUS_2])
                 }
                 status[STATUS_3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[STATUS_3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF3 ERR %d\n", status[STATUS_3])
                 }
                 status[STATUS_4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[STATUS_4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF2 ERR %d\n", status[STATUS_4])
                 }
                 status[STATUS_5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[STATUS_5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF1 ERR %d\n", status[STATUS_5])
                 }
                 status[STATUS_6] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode );
                 if (status[STATUS_6] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[STATUS_6])
                 }
                 status[STATUS_7] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode );
                 if (status[STATUS_7] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[STATUS_7])
                 }
                 status[STATUS_8] = rtems_task_restart( Task_id[TASKID_AVF2], 1 );
                 if (status[STATUS_8] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[STATUS_8])
                 }
                 status[STATUS_9] = rtems_task_restart( Task_id[TASKID_PRC2], 1 );
                 if (status[STATUS_9] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[STATUS_9])
                 }
                 if ( (status[STATUS_0] != RTEMS_SUCCESSFUL) || (status[STATUS_1] != RTEMS_SUCCESSFUL) ||
                      (status[STATUS_2] != RTEMS_SUCCESSFUL) || (status[STATUS_3] != RTEMS_SUCCESSFUL) ||
                      (status[STATUS_4] != RTEMS_SUCCESSFUL) || (status[STATUS_5] != RTEMS_SUCCESSFUL) ||
                      (status[STATUS_6] != RTEMS_SUCCESSFUL) || (status[STATUS_7] != RTEMS_SUCCESSFUL) ||
                      (status[STATUS_8] != RTEMS_SUCCESSFUL) || (status[STATUS_9] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int restart_asm_tasks( unsigned char lfrRequestedMode )
             {
                 /** This function is used to restart average spectral matrices tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * ASM tasks are AVF0, PRC0, AVF1, PRC1, AVF2 and PRC2
                  *
                  */
                 rtems_status_code status[NB_ASM_TASKS];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[STATUS_0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode );
                 if (status[STATUS_0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[STATUS_0])
                 }
                 status[STATUS_1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[STATUS_1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[STATUS_1])
                 }
                 status[STATUS_2] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode );
                 if (status[STATUS_2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[STATUS_2])
                 }
                 status[STATUS_3] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode );
                 if (status[STATUS_3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[STATUS_3])
                 }
                 status[STATUS_4] = rtems_task_restart( Task_id[TASKID_AVF2], 1 );
                 if (status[STATUS_4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[STATUS_4])
                 }
                 status[STATUS_5] = rtems_task_restart( Task_id[TASKID_PRC2], 1 );
                 if (status[STATUS_5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[STATUS_5])
                 }
                 if ( (status[STATUS_0] != RTEMS_SUCCESSFUL) || (status[STATUS_1] != RTEMS_SUCCESSFUL) ||
                      (status[STATUS_2] != RTEMS_SUCCESSFUL) || (status[STATUS_3] != RTEMS_SUCCESSFUL) ||
                      (status[STATUS_4] != RTEMS_SUCCESSFUL) || (status[STATUS_5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int suspend_science_tasks( void )
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 PRINTF("in suspend_science_tasks\n")
                         status = rtems_task_suspend( Task_id[TASKID_AVF0] );    // suspend AVF0
                 if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC0] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 return status;
             }
             int suspend_asm_tasks( void )
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 PRINTF("in suspend_science_tasks\n")
                         status = rtems_task_suspend( Task_id[TASKID_AVF0] );    // suspend AVF0
                 if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC0] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC1] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC2] );
                     if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC2 ERR %d\n", status)
                     }
                     else
                     {
                         status = RTEMS_SUCCESSFUL;
                     }
                 }
                 return status;
             }
             void launch_waveform_picker( unsigned char mode, unsigned int transitionCoarseTime )
             {
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register( mode );
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 if (transitionCoarseTime == 0)
                 {
                     // instant transition means transition on the next valid date
                     // this is mandatory to have a good snapshot period and a good correction of the snapshot period
                     waveform_picker_regs->start_date = time_management_regs->coarse_time + 1;
                 }
                 else
                 {
                     waveform_picker_regs->start_date = transitionCoarseTime;
                 }
                 update_last_valid_transition_date(waveform_picker_regs->start_date);
             }
             void launch_spectral_matrix( void )
             {
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 reset_nb_sm();
                 set_sm_irq_onNewMatrix( 1 );
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
             }
             void set_sm_irq_onNewMatrix( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | BIT_IRQ_ON_NEW_MATRIX;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & MASK_IRQ_ON_NEW_MATRIX;   // 1110
                 }
             }
             void set_sm_irq_onError( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | BIT_IRQ_ON_ERROR;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & MASK_IRQ_ON_ERROR;   // 1101
                 }
             }
             //*****************************
             // CONFIGURE CALIBRATION SIGNAL
             void setCalibrationPrescaler( unsigned int prescaler )
             {
                 // prescaling of the master clock (25 MHz)
                 // master clock is divided by 2^prescaler
                 time_management_regs->calPrescaler = prescaler;
             }
             void setCalibrationDivisor( unsigned int divisionFactor )
             {
                 // division of the prescaled clock by the division factor
                 time_management_regs->calDivisor = divisionFactor;
             }
             void setCalibrationData( void )
             {
                 /** This function is used to store the values used to drive the DAC in order to generate the SCM calibration signal
                  *
                  * @param void
                  *
                  * @return void
                  *
                  */
                 unsigned int k;
                 unsigned short data;
                 float val;
                 float Ts;
                 time_management_regs->calDataPtr = INIT_CHAR;
                 Ts = 1 / CAL_FS;
                 // build the signal for the SCM calibration
                 for (k = 0; k < CAL_NB_PTS; k++)
                 {
                     val = CAL_A0 *  sin( CAL_W0 * k * Ts )
                                     + CAL_A1 * sin(  CAL_W1 * k * Ts );
                     data = (unsigned short) ((val * CAL_SCALE_FACTOR) + CONST_2048);
                     time_management_regs->calData = data & CAL_DATA_MASK;
                 }
             }
             void setCalibrationDataInterleaved( void )
             {
                 /** This function is used to store the values used to drive the DAC in order to generate the SCM calibration signal
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * In interleaved mode, one can store more values than in normal mode.
                  * The data are stored in bunch of 18 bits, 12 bits from one sample and 6 bits from another sample.
                  * T store 3 values, one need two write operations.
                  * s1 [ b11 b10 b9 b8 b7 b6 ] s0 [ b11 b10 b9 b8 b7 b6 b5 b3 b2 b1 b0 ]
                  * s1 [ b5  b4  b3 b2 b1 b0 ] s2 [ b11 b10 b9 b8 b7 b6 b5 b3 b2 b1 b0 ]
                  *
                  */
                 unsigned int k;
                 float val;
                 float Ts;
                 unsigned short data[CAL_NB_PTS_INTER];
                 unsigned char *dataPtr;
                 Ts = 1 / CAL_FS_INTER;
                 time_management_regs->calDataPtr = INIT_CHAR;
                 // build the signal for the SCM calibration
                 for (k=0; k<CAL_NB_PTS_INTER; k++)
                 {
                     val = sin( 2 * pi * CAL_F0 * k * Ts )
                             + sin(  2 * pi * CAL_F1 * k * Ts );
                     data[k] = (unsigned short) ((val * CONST_512) + CONST_2048);
                 }
                 // write the signal in interleaved mode
                 for (k=0; k < STEPS_FOR_STORAGE_INTER; k++)
                 {
                     dataPtr = (unsigned char*) &data[ (k * BYTES_FOR_2_SAMPLES) + 2 ];
                     time_management_regs->calData = ( data[ k * BYTES_FOR_2_SAMPLES ]     & CAL_DATA_MASK )
                             + ( (dataPtr[0] & CAL_DATA_MASK_INTER) << CAL_DATA_SHIFT_INTER);
                     time_management_regs->calData = ( data[(k * BYTES_FOR_2_SAMPLES) + 1] & CAL_DATA_MASK )
                             + ( (dataPtr[1] & CAL_DATA_MASK_INTER) << CAL_DATA_SHIFT_INTER);
                 }
             }
             void setCalibrationReload( bool state)
             {
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | BIT_CAL_RELOAD;   // [0001 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & MASK_CAL_RELOAD;   // [1110 1111]
                 }
             }
             void setCalibrationEnable( bool state )
             {
                 // this bit drives the multiplexer
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | BIT_CAL_ENABLE;   // [0100 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & MASK_CAL_ENABLE; // [1011 1111]
                 }
             }
             void setCalibrationInterleaved( bool state )
             {
                 // this bit drives the multiplexer
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | BIT_SET_INTERLEAVED;   // [0010 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & MASK_SET_INTERLEAVED; // [1101 1111]
                 }
             }
             void setCalibration( bool state )
             {
                 if (state == true)
                 {
                     setCalibrationEnable( true );
                     setCalibrationReload( false );
                     set_hk_lfr_calib_enable( true );
                 }
                 else
                 {
                     setCalibrationEnable( false );
                     setCalibrationReload( true );
                     set_hk_lfr_calib_enable( false );
                 }
             }
             void configureCalibration( bool interleaved )
             {
                 setCalibration( false );
                 if ( interleaved == true )
                 {
                     setCalibrationInterleaved( true );
                     setCalibrationPrescaler( 0 );                   // 25 MHz   => 25 000 000
                     setCalibrationDivisor( CAL_F_DIVISOR_INTER );   //          => 240 384
                     setCalibrationDataInterleaved();
                 }
                 else
                 {
                     setCalibrationPrescaler( 0 );           // 25 MHz   => 25 000 000
                     setCalibrationDivisor( CAL_F_DIVISOR ); //          => 160 256 (39 - 1)
                     setCalibrationData();
                 }
             }
             //****************
             // CLOSING ACTIONS
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a successful TC execution.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = INIT_CHAR;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = INIT_CHAR;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[BYTE_0] = time[BYTE_0];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[BYTE_1] = time[BYTE_1];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[BYTE_2] = time[BYTE_2];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[BYTE_3] = time[BYTE_3];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[BYTE_4] = time[BYTE_4];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[BYTE_5] = time[BYTE_5];
                 val = (housekeeping_packet.hk_lfr_exe_tc_cnt[0] * CONST_256) + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a TC rejection.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC rejection
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = INIT_CHAR;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = INIT_CHAR;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[BYTE_0] = time[BYTE_0];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[BYTE_1] = time[BYTE_1];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[BYTE_2] = time[BYTE_2];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[BYTE_3] = time[BYTE_3];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[BYTE_4] = time[BYTE_4];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[BYTE_5] = time[BYTE_5];
                 val = (housekeeping_packet.hk_lfr_rej_tc_cnt[0] * CONST_256) + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
             {
                 /** This function is the last step of the TC execution workflow.
                  *
                  * @param TC points to the TC being processed
                  * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
                  * @param queue_id is the id of the RTEMS message queue used to send TM packets
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned char requestedMode;
                 if (result == LFR_SUCCESSFUL)
                 {
                     if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                          &
                          !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
                          )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
                     if ( (TC->serviceType == TC_TYPE_GEN) & (TC->serviceSubType == TC_SUBTYPE_ENTER) )
                     {
                         //**********************************
                         // UPDATE THE LFRMODE LOCAL VARIABLE
                         requestedMode = TC->dataAndCRC[1];
                         updateLFRCurrentMode( requestedMode );
                     }
                 }
                 else if (result == LFR_EXE_ERROR)
                 {
                     send_tm_lfr_tc_exe_error( TC, queue_id );
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     PRINTF("In commutation_isr1 *** Error sending event to DUMB\n")
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     PRINTF("In commutation_isr2 *** Error sending event to DUMB\n")
                 }
             }
             //****************
             // OTHER FUNCTIONS
             void updateLFRCurrentMode( unsigned char requestedMode )
             {
                 /** This function updates the value of the global variable lfrCurrentMode.
                  *
                  * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
                  *
                  */
                 // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
                 housekeeping_packet.lfr_status_word[0] = (housekeeping_packet.lfr_status_word[0] & STATUS_WORD_LFR_MODE_MASK)
                         + (unsigned char) ( requestedMode << STATUS_WORD_LFR_MODE_SHIFT );
                 lfrCurrentMode = requestedMode;
             }
             void set_lfr_soft_reset( unsigned char value )
             {
                 if (value == 1)
                 {
                     time_management_regs->ctrl = time_management_regs->ctrl | BIT_SOFT_RESET; // [0100]
                 }
                 else
                 {
                     time_management_regs->ctrl = time_management_regs->ctrl & MASK_SOFT_RESET; // [1011]
                 }
             }
             void reset_lfr( void )
             {
                 set_lfr_soft_reset( 1 );
                 set_lfr_soft_reset( 0 );
                 set_hk_lfr_sc_potential_flag( true );
             }

src/tc_load_dump_parameters.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions to load and dump parameters in the LFR registers.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TC related to parameter loading and dumping.\n
              * TC_LFR_LOAD_COMMON_PAR\n
              * TC_LFR_LOAD_NORMAL_PAR\n
              * TC_LFR_LOAD_BURST_PAR\n
              * TC_LFR_LOAD_SBM1_PAR\n
              * TC_LFR_LOAD_SBM2_PAR\n
              *
              */
             #include "tc_load_dump_parameters.h"
             Packet_TM_LFR_KCOEFFICIENTS_DUMP_t kcoefficients_dump_1 = {0};
             Packet_TM_LFR_KCOEFFICIENTS_DUMP_t kcoefficients_dump_2 = {0};
             ring_node kcoefficient_node_1 = {0};
             ring_node kcoefficient_node_2 = {0};
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function updates the LFR registers with the incoming common parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  *
                  */
                 parameter_dump_packet.sy_lfr_common_parameters_spare    = TC->dataAndCRC[0];
                 parameter_dump_packet.sy_lfr_common_parameters          = TC->dataAndCRC[1];
                 set_wfp_data_shaping( );
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming normal parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 int flag;
                 rtems_status_code status;
                 flag = LFR_SUCCESSFUL;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) ||
                      (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 // CHECK THE PARAMETERS SET CONSISTENCY
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = check_normal_par_consistency( TC, queue_id );
                 }
                 // SET THE PARAMETERS IF THEY ARE CONSISTENT
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_l( TC );
                     result = set_sy_lfr_n_swf_p( TC );
                     result = set_sy_lfr_n_bp_p0( TC );
                     result = set_sy_lfr_n_bp_p1( TC );
                     result = set_sy_lfr_n_asm_p( TC );
                     result = set_sy_lfr_n_cwf_long_f3( TC );
                 }
                 return flag;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming burst parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_b_bp_p0;
                 unsigned char sy_lfr_b_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_BURST ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                 sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                 // sy_lfr_b_bp_p0 shall not be lower than its default value
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_b_bp_p0 < DEFAULT_SY_LFR_B_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P0 + DATAFIELD_OFFSET, sy_lfr_b_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_b_bp_p1 shall not be lower than its default value
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_b_bp_p1 < DEFAULT_SY_LFR_B_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P1 + DATAFIELD_OFFSET, sy_lfr_b_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //****************************************************************
                 // check the consistency between sy_lfr_b_bp_p0 and sy_lfr_b_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                     sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                     aux = ( (float ) sy_lfr_b_bp_p1 / sy_lfr_b_bp_p0 ) - floor(sy_lfr_b_bp_p1 / sy_lfr_b_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P0 + DATAFIELD_OFFSET, sy_lfr_b_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_b_bp_p0( TC );
                     flag = set_sy_lfr_b_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm1 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_s1_bp_p0;
                 unsigned char sy_lfr_s1_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_s1_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P0 ];
                 sy_lfr_s1_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P1 ];
                 // sy_lfr_s1_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s1_bp_p0 < DEFAULT_SY_LFR_S1_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P0 + DATAFIELD_OFFSET, sy_lfr_s1_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_s1_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s1_bp_p1 < DEFAULT_SY_LFR_S1_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P1 + DATAFIELD_OFFSET, sy_lfr_s1_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //******************************************************************
                 // check the consistency between sy_lfr_s1_bp_p0 and sy_lfr_s1_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_s1_bp_p1 / (sy_lfr_s1_bp_p0 * S1_BP_P0_SCALE) )
                             - floor(sy_lfr_s1_bp_p1 / (sy_lfr_s1_bp_p0 * S1_BP_P0_SCALE));
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P0 + DATAFIELD_OFFSET, sy_lfr_s1_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_s1_bp_p0( TC );
                     flag = set_sy_lfr_s1_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_s2_bp_p0;
                 unsigned char sy_lfr_s2_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                 sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                 // sy_lfr_s2_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s2_bp_p0 < DEFAULT_SY_LFR_S2_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P0 + DATAFIELD_OFFSET, sy_lfr_s2_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_s2_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s2_bp_p1 < DEFAULT_SY_LFR_S2_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P1 + DATAFIELD_OFFSET, sy_lfr_s2_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //******************************************************************
                 // check the consistency between sy_lfr_s2_bp_p0 and sy_lfr_s2_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                     sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                     aux = ( (float ) sy_lfr_s2_bp_p1 / sy_lfr_s2_bp_p0 ) - floor(sy_lfr_s2_bp_p1 / sy_lfr_s2_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P0 + DATAFIELD_OFFSET, sy_lfr_s2_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_s2_bp_p0( TC );
                     flag = set_sy_lfr_s2_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = set_sy_lfr_kcoeff( TC, queue_id );
                 return flag;
             }
             int action_load_fbins_mask(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = set_sy_lfr_fbins( TC );
                 // once the fbins masks have been stored, they have to be merged with the masks which handle the reaction wheels frequencies filtering
                 merge_fbins_masks();
                 return flag;
             }
             int action_load_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 unsigned char k;
                 flag = LFR_DEFAULT;
                 k = INIT_CHAR;
                 flag = check_sy_lfr_filter_parameters( TC, queue_id );
                 if (flag  == LFR_SUCCESSFUL)
                 {
                     parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ];
                     parameter_dump_packet.sy_lfr_pas_filter_modulus         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[BYTE_0]    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + BYTE_0 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[BYTE_1]    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + BYTE_1 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[BYTE_2]    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + BYTE_2 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[BYTE_3]    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + BYTE_3 ];
                     parameter_dump_packet.sy_lfr_pas_filter_offset          = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[BYTE_0]   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + BYTE_0 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[BYTE_1]   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + BYTE_1 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[BYTE_2]   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + BYTE_2 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[BYTE_3]   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + BYTE_3 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[BYTE_0]      = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + BYTE_0 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[BYTE_1]      = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + BYTE_1 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[BYTE_2]      = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + BYTE_2 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[BYTE_3]      = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + BYTE_3 ];
                     //****************************
                     // store PAS filter parameters
                     // sy_lfr_pas_filter_enabled
                     filterPar.spare_sy_lfr_pas_filter_enabled   = parameter_dump_packet.spare_sy_lfr_pas_filter_enabled;
                     set_sy_lfr_pas_filter_enabled( parameter_dump_packet.spare_sy_lfr_pas_filter_enabled & BIT_PAS_FILTER_ENABLED );
                     // sy_lfr_pas_filter_modulus
                     filterPar.modulus_in_finetime = ((uint64_t) parameter_dump_packet.sy_lfr_pas_filter_modulus) * CONST_65536;
                     // sy_lfr_pas_filter_tbad
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_pas_filter_tbad,
                                      parameter_dump_packet.sy_lfr_pas_filter_tbad );
                     filterPar.tbad_in_finetime = (uint64_t) (filterPar.sy_lfr_pas_filter_tbad * CONST_65536);
                     // sy_lfr_pas_filter_offset
                     filterPar.offset_in_finetime = ((uint64_t) parameter_dump_packet.sy_lfr_pas_filter_offset) * CONST_65536;
                     // sy_lfr_pas_filter_shift
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_pas_filter_shift,
                                      parameter_dump_packet.sy_lfr_pas_filter_shift );
                     filterPar.shift_in_finetime = (uint64_t) (filterPar.sy_lfr_pas_filter_shift * CONST_65536);
                     //****************************************************
                     // store the parameter sy_lfr_sc_rw_delta_f as a float
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_sc_rw_delta_f,
                                      parameter_dump_packet.sy_lfr_sc_rw_delta_f );
                     // copy rw.._k.. from the incoming TC to the local parameter_dump_packet
                     for (k = 0; k < NB_RW_K_COEFFS * NB_BYTES_PER_RW_K_COEFF; k++)
                     {
                         parameter_dump_packet.sy_lfr_rw1_k1[k] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_RW1_K1 + k ];
                     }
                     //***********************************************
                     // store the parameter sy_lfr_rw.._k.. as a float
                     // rw1_k
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k1, parameter_dump_packet.sy_lfr_rw1_k1 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k2, parameter_dump_packet.sy_lfr_rw1_k2 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k3, parameter_dump_packet.sy_lfr_rw1_k3 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw1_k4, parameter_dump_packet.sy_lfr_rw1_k4 );
                     // rw2_k
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k1, parameter_dump_packet.sy_lfr_rw2_k1 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k2, parameter_dump_packet.sy_lfr_rw2_k2 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k3, parameter_dump_packet.sy_lfr_rw2_k3 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw2_k4, parameter_dump_packet.sy_lfr_rw2_k4 );
                     // rw3_k
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k1, parameter_dump_packet.sy_lfr_rw3_k1 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k2, parameter_dump_packet.sy_lfr_rw3_k2 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k3, parameter_dump_packet.sy_lfr_rw3_k3 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw3_k4, parameter_dump_packet.sy_lfr_rw3_k4 );
                     // rw4_k
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k1, parameter_dump_packet.sy_lfr_rw4_k1 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k2, parameter_dump_packet.sy_lfr_rw4_k2 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k3, parameter_dump_packet.sy_lfr_rw4_k3 );
                     copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_rw4_k4, parameter_dump_packet.sy_lfr_rw4_k4 );
                 }
                 return flag;
             }
             int action_dump_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int address;
                 rtems_status_code status;
                 unsigned int freq;
                 unsigned int bin;
                 unsigned int coeff;
                 unsigned char *kCoeffPtr;
                 unsigned char *kCoeffDumpPtr;
                 // for each sy_lfr_kcoeff_frequency there is 32 kcoeff
                 // F0 => 11 bins
                 // F1 => 13 bins
                 // F2 => 12 bins
                 // 36 bins to dump in two packets (30 bins max per packet)
                 //*********
                 // PACKET 1
                 // 11 F0 bins, 13 F1 bins and 6 F2 bins
                 kcoefficients_dump_1.destinationID = TC->sourceID;
                 increment_seq_counter_destination_id_dump( kcoefficients_dump_1.packetSequenceControl, TC->sourceID );
                 for( freq = 0;
                      freq < NB_BINS_COMPRESSED_SM_F0;
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ (freq*KCOEFF_BLK_SIZE) + 1] = freq;
                     bin = freq;
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[
                                 (freq*KCOEFF_BLK_SIZE) + (coeff*NB_BYTES_PER_FLOAT) + KCOEFF_FREQ
                                 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f0_norm[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 for( freq = NB_BINS_COMPRESSED_SM_F0;
                      freq < ( NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 );
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ (freq*KCOEFF_BLK_SIZE) + 1 ] = freq;
                     bin = freq - NB_BINS_COMPRESSED_SM_F0;
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[
                                 (freq*KCOEFF_BLK_SIZE) + (coeff*NB_BYTES_PER_FLOAT) + KCOEFF_FREQ
                                 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f1_norm[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 for( freq = ( NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 );
                      freq < KCOEFF_BLK_NR_PKT1 ;
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ (freq * KCOEFF_BLK_SIZE) + 1 ] = freq;
                     bin = freq - (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1);
                     for ( coeff = 0; coeff <NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[
                                 (freq * KCOEFF_BLK_SIZE) + (coeff * NB_BYTES_PER_FLOAT) + KCOEFF_FREQ
                                 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f2[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 kcoefficients_dump_1.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 kcoefficients_dump_1.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 kcoefficients_dump_1.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 kcoefficients_dump_1.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 kcoefficients_dump_1.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 kcoefficients_dump_1.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 kcoefficient_node_1.status = 1;
                 address = (unsigned int) &kcoefficient_node_1;
                 status =  rtems_message_queue_send( queue_id, &address, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump_kcoefficients *** ERR sending packet 1 , code %d", status)
                 }
                  //********
                 // PACKET 2
                 // 6 F2 bins
                 kcoefficients_dump_2.destinationID = TC->sourceID;
                 increment_seq_counter_destination_id_dump( kcoefficients_dump_2.packetSequenceControl, TC->sourceID );
                 for( freq = 0;
                      freq < KCOEFF_BLK_NR_PKT2;
                      freq++ )
                 {
                     kcoefficients_dump_2.kcoeff_blks[ (freq*KCOEFF_BLK_SIZE) + 1 ] = KCOEFF_BLK_NR_PKT1 + freq;
                     bin = freq + KCOEFF_BLK_NR_PKT2;
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_2.kcoeff_blks[
                                 (freq*KCOEFF_BLK_SIZE) + (coeff*NB_BYTES_PER_FLOAT) + KCOEFF_FREQ ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f2[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 kcoefficients_dump_2.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 kcoefficients_dump_2.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 kcoefficients_dump_2.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 kcoefficients_dump_2.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 kcoefficients_dump_2.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 kcoefficients_dump_2.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 kcoefficient_node_2.status = 1;
                 address = (unsigned int) &kcoefficient_node_2;
                 status =  rtems_message_queue_send( queue_id, &address, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump_kcoefficients *** ERR sending packet 2, code %d", status)
                 }
                 return status;
             }
             int action_dump_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                  *
                  * @param queue_id is the id of the queue which handles TM related to this execution step.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 int status;
                 increment_seq_counter_destination_id_dump( parameter_dump_packet.packetSequenceControl, TC->sourceID );
                 parameter_dump_packet.destinationID = TC->sourceID;
                 // UPDATE TIME
                 parameter_dump_packet.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 parameter_dump_packet.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 parameter_dump_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 parameter_dump_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 parameter_dump_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                     PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                 }
                 return status;
             }
             //***********************
             // NORMAL MODE PARAMETERS
             int check_normal_par_consistency( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 unsigned char msb;
                 unsigned char lsb;
                 int flag;
                 float aux;
                 rtems_status_code status;
                 unsigned int sy_lfr_n_swf_l;
                 unsigned int sy_lfr_n_swf_p;
                 unsigned int sy_lfr_n_asm_p;
                 unsigned char sy_lfr_n_bp_p0;
                 unsigned char sy_lfr_n_bp_p1;
                 unsigned char sy_lfr_n_cwf_long_f3;
                 flag = LFR_SUCCESSFUL;
                 //***************
                 // get parameters
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L+1 ];
                 sy_lfr_n_swf_l = (msb * CONST_256) + lsb;
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P+1 ];
                 sy_lfr_n_swf_p = (msb * CONST_256)  + lsb;
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P+1 ];
                 sy_lfr_n_asm_p = (msb * CONST_256)  + lsb;
                 sy_lfr_n_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P0 ];
                 sy_lfr_n_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P1 ];
                 sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_CWF_LONG_F3 ];
                 //******************
                 // check consistency
                 // sy_lfr_n_swf_l
                 if (sy_lfr_n_swf_l != DFLT_SY_LFR_N_SWF_L)
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_SWF_L + DATAFIELD_OFFSET, sy_lfr_n_swf_l );
                     flag = WRONG_APP_DATA;
                 }
                 // sy_lfr_n_swf_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( sy_lfr_n_swf_p < MIN_SY_LFR_N_SWF_P )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_SWF_P + DATAFIELD_OFFSET, sy_lfr_n_swf_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_bp_p0 < DFLT_SY_LFR_N_BP_P0)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P0 + DATAFIELD_OFFSET, sy_lfr_n_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_asm_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_asm_p == 0)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_ASM_P + DATAFIELD_OFFSET, sy_lfr_n_asm_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_asm_p shall be a whole multiple of sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_n_asm_p / sy_lfr_n_bp_p0 ) - floor(sy_lfr_n_asm_p / sy_lfr_n_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_ASM_P + DATAFIELD_OFFSET, sy_lfr_n_asm_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_bp_p1 < DFLT_SY_LFR_N_BP_P1)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P1 + DATAFIELD_OFFSET, sy_lfr_n_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p1 shall be a whole multiple of sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_n_bp_p1 / sy_lfr_n_bp_p0 ) - floor(sy_lfr_n_bp_p1 / sy_lfr_n_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P1 + DATAFIELD_OFFSET, sy_lfr_n_bp_p1 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // sy_lfr_n_cwf_long_f3
                 return flag;
             }
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L   ];
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L+1 ];
                 return result;
             }
             int set_sy_lfr_n_swf_p(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P   ];
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P+1 ];
                 return result;
             }
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two full spectral matrices transmission, in s (SY_LFR_N_ASM_P).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P   ];
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P+1 ];
                 return result;
             }
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (DFLT_SY_LFR_N_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P1 ];
                 return status;
             }
             int set_sy_lfr_n_cwf_long_f3(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function allows to switch from CWF_F3 packets to CWF_LONG_F3 packets.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_CWF_LONG_F3 ];
                 return status;
             }
             //**********************
             // BURST MODE PARAMETERS
             int set_sy_lfr_b_bp_p0(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_B_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_b_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_B_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                 return status;
             }
             //*********************
             // SBM1 MODE PARAMETERS
             int set_sy_lfr_s1_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S1_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_s1_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S1_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P1 ];
                 return status;
             }
             //*********************
             // SBM2 MODE PARAMETERS
             int set_sy_lfr_s2_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_s2_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                 return status;
             }
             //*******************
             // TC_LFR_UPDATE_INFO
             unsigned int check_update_info_hk_lfr_mode( unsigned char mode )
             {
                 unsigned int status;
                 status = LFR_DEFAULT;
                 if ( (mode == LFR_MODE_STANDBY) || (mode == LFR_MODE_NORMAL)
                      || (mode == LFR_MODE_BURST)
                      || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_tds_mode( unsigned char mode )
             {
                 unsigned int status;
                 status = LFR_DEFAULT;
                 if ( (mode == TDS_MODE_STANDBY) || (mode == TDS_MODE_NORMAL)
                      || (mode == TDS_MODE_BURST)
                      || (mode == TDS_MODE_SBM1) || (mode == TDS_MODE_SBM2)
                      || (mode == TDS_MODE_LFM))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_thr_mode( unsigned char mode )
             {
                 unsigned int status;
                 status = LFR_DEFAULT;
                 if ( (mode == THR_MODE_STANDBY) || (mode == THR_MODE_NORMAL)
                      || (mode == THR_MODE_BURST))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             void set_hk_lfr_sc_rw_f_flag( unsigned char wheel, unsigned char freq, float value )
             {
                 unsigned char flag;
                 unsigned char flagPosInByte;
                 unsigned char newFlag;
                 unsigned char flagMask;
                 // if the frequency value is not a number, the flag is set to 0 and the frequency RWx_Fy is not filtered
                 if (isnan(value))
                 {
                     flag = FLAG_NAN;
                 }
                 else
                 {
                     flag = FLAG_IAN;
                 }
                 switch(wheel)
                 {
                 case WHEEL_1:
                     flagPosInByte = FLAG_OFFSET_WHEELS_1_3 - freq;
                     flagMask = ~(1 << flagPosInByte);
                     newFlag = flag << flagPosInByte;
                     housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags = (housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags & flagMask) | newFlag;
                     break;
                 case WHEEL_2:
                     flagPosInByte = FLAG_OFFSET_WHEELS_2_4 - freq;
                     flagMask = ~(1 << flagPosInByte);
                     newFlag = flag << flagPosInByte;
                     housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags = (housekeeping_packet.hk_lfr_sc_rw1_rw2_f_flags & flagMask) | newFlag;
                     break;
                 case WHEEL_3:
                     flagPosInByte = FLAG_OFFSET_WHEELS_1_3 - freq;
                     flagMask = ~(1 << flagPosInByte);
                     newFlag = flag << flagPosInByte;
                     housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags = (housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags & flagMask) | newFlag;
                     break;
                 case WHEEL_4:
                     flagPosInByte = FLAG_OFFSET_WHEELS_2_4 - freq;
                     flagMask = ~(1 << flagPosInByte);
                     newFlag = flag << flagPosInByte;
                     housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags = (housekeeping_packet.hk_lfr_sc_rw3_rw4_f_flags & flagMask) | newFlag;
                     break;
                 default:
                     break;
                 }
             }
             void set_hk_lfr_sc_rw_f_flags( void )
             {
                 // RW1
                 set_hk_lfr_sc_rw_f_flag( WHEEL_1, FREQ_1, rw_f.cp_rpw_sc_rw1_f1 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_1, FREQ_2, rw_f.cp_rpw_sc_rw1_f2 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_1, FREQ_3, rw_f.cp_rpw_sc_rw1_f3 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_1, FREQ_4, rw_f.cp_rpw_sc_rw1_f4 );
                 // RW2
                 set_hk_lfr_sc_rw_f_flag( WHEEL_2, FREQ_1, rw_f.cp_rpw_sc_rw2_f1 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_2, FREQ_2, rw_f.cp_rpw_sc_rw2_f2 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_2, FREQ_3, rw_f.cp_rpw_sc_rw2_f3 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_2, FREQ_4, rw_f.cp_rpw_sc_rw2_f4 );
                 // RW3
                 set_hk_lfr_sc_rw_f_flag( WHEEL_3, FREQ_1, rw_f.cp_rpw_sc_rw3_f1 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_3, FREQ_2, rw_f.cp_rpw_sc_rw3_f2 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_3, FREQ_3, rw_f.cp_rpw_sc_rw3_f3 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_3, FREQ_4, rw_f.cp_rpw_sc_rw3_f4 );
                 // RW4
                 set_hk_lfr_sc_rw_f_flag( WHEEL_4, FREQ_1, rw_f.cp_rpw_sc_rw4_f1 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_4, FREQ_2, rw_f.cp_rpw_sc_rw4_f2 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_4, FREQ_3, rw_f.cp_rpw_sc_rw4_f3 );
                 set_hk_lfr_sc_rw_f_flag( WHEEL_4, FREQ_4, rw_f.cp_rpw_sc_rw4_f4 );
             }
             int check_sy_lfr_rw_f( ccsdsTelecommandPacket_t *TC, int offset, int* pos, float* value )
             {
                 float rw_k;
                 int ret;
                 ret = LFR_SUCCESSFUL;
                 rw_k = INIT_FLOAT;
                 copyFloatByChar( (unsigned char*) &rw_k, (unsigned char*) &TC->packetID[ offset ] );
                 *pos = offset;
                 *value = rw_k;
                 if (rw_k < MIN_SY_LFR_RW_F)
                 {
                     ret = WRONG_APP_DATA;
                 }
                 return ret;
             }
             int check_all_sy_lfr_rw_f( ccsdsTelecommandPacket_t *TC, int *pos, float*value )
             {
                 int ret;
                 ret = LFR_SUCCESSFUL;
                 //****
                 //****
                 // RW1
                 ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1, pos, value );  // F1
                 if (ret == LFR_SUCCESSFUL)  // F2
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F3
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F4
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F4, pos, value  );
                 }
                 //****
                 //****
                 // RW2
                 if (ret == LFR_SUCCESSFUL)  // F1
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F2
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F3
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F4
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F4, pos, value  );
                 }
                 //****
                 //****
                 // RW3
                 if (ret == LFR_SUCCESSFUL)  // F1
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F2
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F3
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F4
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F4, pos, value  );
                 }
                 //****
                 //****
                 // RW4
                 if (ret == LFR_SUCCESSFUL)  // F1
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F2
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F3
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // F4
                 {
                     ret = check_sy_lfr_rw_f( TC, BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F4, pos, value  );
                 }
                 return ret;
             }
             void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function get the reaction wheels frequencies in the incoming TC_LFR_UPDATE_INFO and copy the values locally.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  */
                 unsigned char * bytePosPtr; // pointer to the beginning of the incoming TC packet
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 // rw1_f
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F3 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw1_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F4 ] );
                 // rw2_f
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F3 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw2_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F4 ] );
                 // rw3_f
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F3 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw3_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F4 ] );
                 // rw4_f
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f1, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f2, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f3, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F3 ] );
                 copyFloatByChar( (unsigned char*) &rw_f.cp_rpw_sc_rw4_f4, (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F4 ] );
                 // test each reaction wheel frequency value. NaN means that the frequency is not filtered
             }
             void setFBinMask( unsigned char *fbins_mask, float rw_f, unsigned char deltaFreq, float sy_lfr_rw_k )
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param fbins_mask
                  * @param rw_f is the reaction wheel frequency to filter
                  * @param delta_f is the frequency step between the frequency bins, it depends on the frequency channel
                  * @param flag [true] filtering enabled [false] filtering disabled
                  *
                  * @return void
                  *
                  */
                 float f_RW_min;
                 float f_RW_MAX;
                 float fi_min;
                 float fi_MAX;
                 float fi;
                 float deltaBelow;
                 float deltaAbove;
                 float freqToFilterOut;
                 int binBelow;
                 int binAbove;
                 int closestBin;
                 unsigned int whichByte;
                 int selectedByte;
                 int bin;
                 int binToRemove[NB_BINS_TO_REMOVE];
                 int k;
                 bool filteringSet;
                 closestBin = 0;
                 whichByte = 0;
                 bin = 0;
                 filteringSet = false;
                 for (k = 0; k < NB_BINS_TO_REMOVE; k++)
                 {
                     binToRemove[k] = -1;
                 }
                 if (!isnan(rw_f))
                 {
                     // compute the frequency range to filter [ rw_f - delta_f; rw_f + delta_f ]
                     f_RW_min = rw_f - ((filterPar.sy_lfr_sc_rw_delta_f) * sy_lfr_rw_k);
                     f_RW_MAX = rw_f + ((filterPar.sy_lfr_sc_rw_delta_f) * sy_lfr_rw_k);
                     freqToFilterOut = f_RW_min;
                     while ( filteringSet == false )
                     {
                         // compute the index of the frequency bin immediately below rw_f
                         binBelow = (int) ( floor( ((double) freqToFilterOut) / ((double) deltaFreq)) );
                         deltaBelow = freqToFilterOut - binBelow * deltaFreq;
                         // compute the index of the frequency bin immediately above rw_f
                         binAbove = (int) ( ceil(  ((double) freqToFilterOut) / ((double) deltaFreq)) );
                         deltaAbove = binAbove * deltaFreq - freqToFilterOut;
                         // search the closest bin
                         if (deltaAbove > deltaBelow)
                         {
                             closestBin = binBelow;
                         }
                         else
                         {
                             closestBin = binAbove;
                         }
                         // compute the fi interval [fi - deltaFreq * 0.285, fi + deltaFreq * 0.285]
                         fi = closestBin * deltaFreq;
                         fi_min = fi - (deltaFreq * FI_INTERVAL_COEFF);
                         fi_MAX = fi + (deltaFreq * FI_INTERVAL_COEFF);
                         //**************************************************************************************
                         // be careful here, one shall take into account that the bin 0 IS DROPPED in the spectra
                         // thus, the index 0 in a mask corresponds to the bin 1 of the spectrum
                         //**************************************************************************************
                         // 1. IF freqToFilterOut is included in [ fi_min; fi_MAX ]
                         // => remove f_(i), f_(i-1) and f_(i+1)
                         if ( ( freqToFilterOut > fi_min ) && ( freqToFilterOut < fi_MAX ) )
                         {
                             binToRemove[0] = (closestBin - 1) - 1;
                             binToRemove[1] = (closestBin)     - 1;
                             binToRemove[2] = (closestBin + 1) - 1;
                         }
                         // 2. ELSE
                         // => remove the two f_(i) which are around f_RW
                         else
                         {
                             binToRemove[0] = (binBelow) - 1;
                             binToRemove[1] = (binAbove) - 1;
                             binToRemove[2] = (-1);
                         }
                         for (k = 0; k < NB_BINS_TO_REMOVE; k++)
                         {
                             bin = binToRemove[k];
                             if ( (bin >= BIN_MIN) && (bin <= BIN_MAX) )
                             {
                                 whichByte = (bin >> SHIFT_3_BITS);    // division by 8
                                 selectedByte = ( 1 << (bin - (whichByte * BITS_PER_BYTE)) );
                                 fbins_mask[BYTES_PER_MASK - 1 - whichByte] =
                                         fbins_mask[BYTES_PER_MASK - 1 - whichByte] & ((unsigned char) (~selectedByte)); // bytes are ordered MSB first in the packets
                             }
                         }
                         // update freqToFilterOut
                         if ( freqToFilterOut == f_RW_MAX )
                         {
                             filteringSet = true;    // end of the loop
                         }
                         else
                         {
                             freqToFilterOut = freqToFilterOut + deltaFreq;
                         }
                         if ( freqToFilterOut > f_RW_MAX)
                         {
                             freqToFilterOut = f_RW_MAX;
                         }
                     }
                 }
             }
             void build_sy_lfr_rw_mask( unsigned int channel )
             {
                 unsigned char local_rw_fbins_mask[BYTES_PER_MASK];
                 unsigned char *maskPtr;
                 double deltaF;
                 unsigned k;
                 maskPtr = NULL;
                 deltaF = DELTAF_F2;
                 switch (channel)
                 {
                 case CHANNELF0:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask_f0_word1;
                     deltaF = DELTAF_F0;
                     break;
                 case CHANNELF1:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask_f1_word1;
                     deltaF = DELTAF_F1;
                     break;
                 case CHANNELF2:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask_f2_word1;
                     deltaF = DELTAF_F2;
                     break;
                 default:
                     break;
                 }
                 for (k = 0; k < BYTES_PER_MASK; k++)
                 {
                     local_rw_fbins_mask[k] = INT8_ALL_F;
                 }
                 // RW1
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f1, deltaF, filterPar.sy_lfr_rw1_k1 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f2, deltaF, filterPar.sy_lfr_rw1_k2 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f3, deltaF, filterPar.sy_lfr_rw1_k3 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw1_f4, deltaF, filterPar.sy_lfr_rw1_k4 );
                 // RW2
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f1, deltaF, filterPar.sy_lfr_rw2_k1 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f2, deltaF, filterPar.sy_lfr_rw2_k2 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f3, deltaF, filterPar.sy_lfr_rw2_k3 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw2_f4, deltaF, filterPar.sy_lfr_rw2_k4 );
                 // RW3
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f1, deltaF, filterPar.sy_lfr_rw3_k1 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f2, deltaF, filterPar.sy_lfr_rw3_k2 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f3, deltaF, filterPar.sy_lfr_rw3_k3 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw3_f4, deltaF, filterPar.sy_lfr_rw3_k4 );
                 // RW4
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f1, deltaF, filterPar.sy_lfr_rw4_k1 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f2, deltaF, filterPar.sy_lfr_rw4_k2 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f3, deltaF, filterPar.sy_lfr_rw4_k3 );
                 setFBinMask( local_rw_fbins_mask, rw_f.cp_rpw_sc_rw4_f4, deltaF, filterPar.sy_lfr_rw4_k4 );
                 // update the value of the fbins related to reaction wheels frequency filtering
                 if (maskPtr != NULL)
                 {
                     for (k = 0; k < BYTES_PER_MASK; k++)
                     {
                         maskPtr[k] = local_rw_fbins_mask[k];
                     }
                 }
             }
             void build_sy_lfr_rw_masks( void )
             {
                 build_sy_lfr_rw_mask( CHANNELF0 );
                 build_sy_lfr_rw_mask( CHANNELF1 );
                 build_sy_lfr_rw_mask( CHANNELF2 );
             }
             void merge_fbins_masks( void )
             {
                 unsigned char k;
                 unsigned char *fbins_f0;
                 unsigned char *fbins_f1;
                 unsigned char *fbins_f2;
                 unsigned char *rw_mask_f0;
                 unsigned char *rw_mask_f1;
                 unsigned char *rw_mask_f2;
                 fbins_f0 = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                 fbins_f1 = parameter_dump_packet.sy_lfr_fbins_f1_word1;
                 fbins_f2 = parameter_dump_packet.sy_lfr_fbins_f2_word1;
                 rw_mask_f0 = parameter_dump_packet.sy_lfr_rw_mask_f0_word1;
                 rw_mask_f1 = parameter_dump_packet.sy_lfr_rw_mask_f1_word1;
                 rw_mask_f2 = parameter_dump_packet.sy_lfr_rw_mask_f2_word1;
                 for( k=0; k < BYTES_PER_MASK; k++ )
                 {
                     fbins_masks.merged_fbins_mask_f0[k] = fbins_f0[k] & rw_mask_f0[k];
                     fbins_masks.merged_fbins_mask_f1[k] = fbins_f1[k] & rw_mask_f1[k];
                     fbins_masks.merged_fbins_mask_f2[k] = fbins_f2[k] & rw_mask_f2[k];
                 }
             }
             //***********
             // FBINS MASK
             int set_sy_lfr_fbins( ccsdsTelecommandPacket_t *TC )
             {
                 int status;
                 unsigned int k;
                 unsigned char *fbins_mask_dump;
                 unsigned char *fbins_mask_TC;
                 status = LFR_SUCCESSFUL;
                 fbins_mask_dump = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                 fbins_mask_TC = TC->dataAndCRC;
                 for (k=0; k < BYTES_PER_MASKS_SET; k++)
                 {
                     fbins_mask_dump[k] = fbins_mask_TC[k];
                 }
                 return status;
             }
             //***************************
             // TC_LFR_LOAD_PAS_FILTER_PAR
             int check_sy_lfr_rw_k( ccsdsTelecommandPacket_t *TC, int offset, int* pos, float* value )
             {
                 float rw_k;
                 int ret;
                 ret = LFR_SUCCESSFUL;
                 rw_k = INIT_FLOAT;
                 copyFloatByChar( (unsigned char*) &rw_k, (unsigned char*) &TC->dataAndCRC[ offset ] );
                 *pos = offset;
                 *value = rw_k;
                 if (rw_k < MIN_SY_LFR_RW_F)
                 {
                     ret = WRONG_APP_DATA;
                 }
                 return ret;
             }
             int check_all_sy_lfr_rw_k( ccsdsTelecommandPacket_t *TC, int *pos, float *value )
             {
                 int ret;
                 ret = LFR_SUCCESSFUL;
                 //****
                 //****
                 // RW1
                 ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW1_K1, pos, value );  // K1
                 if (ret == LFR_SUCCESSFUL)  // K2
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW1_K2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K3
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW1_K3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K4
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW1_K4, pos, value  );
                 }
                 //****
                 //****
                 // RW2
                 if (ret == LFR_SUCCESSFUL)  // K1
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW2_K1, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K2
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW2_K2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K3
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW2_K3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K4
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW2_K4, pos, value  );
                 }
                 //****
                 //****
                 // RW3
                 if (ret == LFR_SUCCESSFUL)  // K1
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW3_K1, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K2
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW3_K2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K3
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW3_K3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K4
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW3_K4, pos, value  );
                 }
                 //****
                 //****
                 // RW4
                 if (ret == LFR_SUCCESSFUL)  // K1
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW4_K1, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K2
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW4_K2, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K3
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW4_K3, pos, value  );
                 }
                 if (ret == LFR_SUCCESSFUL)  // K4
                 {
                     ret = check_sy_lfr_rw_k( TC, DATAFIELD_POS_SY_LFR_RW4_K4, pos, value  );
                 }
                 return ret;
             }
             int check_sy_lfr_filter_parameters( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_pas_filter_enabled;
                 unsigned char sy_lfr_pas_filter_modulus;
                 float sy_lfr_pas_filter_tbad;
                 unsigned char sy_lfr_pas_filter_offset;
                 float sy_lfr_pas_filter_shift;
                 float sy_lfr_sc_rw_delta_f;
                 char *parPtr;
                 int datafield_pos;
                 float rw_k;
                 flag = LFR_SUCCESSFUL;
                 sy_lfr_pas_filter_tbad  = INIT_FLOAT;
                 sy_lfr_pas_filter_shift = INIT_FLOAT;
                 sy_lfr_sc_rw_delta_f    = INIT_FLOAT;
                 parPtr = NULL;
                 datafield_pos = INIT_INT;
                 rw_k = INIT_FLOAT;
                 //***************
                 // get parameters
                 sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ] & BIT_PAS_FILTER_ENABLED;   // [0000 0001]
                 sy_lfr_pas_filter_modulus   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_pas_filter_tbad,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD ]
                             );
                 sy_lfr_pas_filter_offset    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_pas_filter_shift,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT ]
                             );
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_sc_rw_delta_f,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F ]
                             );
                 //******************
                 // CHECK CONSISTENCY
                 //**************************
                 // sy_lfr_pas_filter_enabled
                 // nothing to check, value is 0 or 1
                 //**************************
                 // sy_lfr_pas_filter_modulus
                 if ( (sy_lfr_pas_filter_modulus < MIN_PAS_FILTER_MODULUS) || (sy_lfr_pas_filter_modulus > MAX_PAS_FILTER_MODULUS) )
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS + DATAFIELD_OFFSET, sy_lfr_pas_filter_modulus );
                     flag = WRONG_APP_DATA;
                 }
                 //***********************
                 // sy_lfr_pas_filter_tbad
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( (sy_lfr_pas_filter_tbad < MIN_PAS_FILTER_TBAD) || (sy_lfr_pas_filter_tbad > MAX_PAS_FILTER_TBAD) )
                     {
                         parPtr = (char*) &sy_lfr_pas_filter_tbad;
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + DATAFIELD_OFFSET, parPtr[FLOAT_LSBYTE] );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //*************************
                 // sy_lfr_pas_filter_offset
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( (sy_lfr_pas_filter_offset < MIN_PAS_FILTER_OFFSET) || (sy_lfr_pas_filter_offset > MAX_PAS_FILTER_OFFSET) )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET + DATAFIELD_OFFSET, sy_lfr_pas_filter_offset );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //************************
                 // sy_lfr_pas_filter_shift
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( (sy_lfr_pas_filter_shift < MIN_PAS_FILTER_SHIFT) || (sy_lfr_pas_filter_shift > MAX_PAS_FILTER_SHIFT) )
                     {
                         parPtr = (char*) &sy_lfr_pas_filter_shift;
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + DATAFIELD_OFFSET, parPtr[FLOAT_LSBYTE] );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //*************************************
                 // check global coherency of the values
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( (sy_lfr_pas_filter_offset + sy_lfr_pas_filter_shift) >= sy_lfr_pas_filter_modulus )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS + DATAFIELD_OFFSET, sy_lfr_pas_filter_modulus );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //*********************
                 // sy_lfr_sc_rw_delta_f
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( sy_lfr_sc_rw_delta_f < MIN_SY_LFR_SC_RW_DELTA_F )
                     {
                         parPtr = (char*) &sy_lfr_sc_rw_delta_f;
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + DATAFIELD_OFFSET, parPtr[FLOAT_LSBYTE] );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //************
                 // sy_lfr_rw_k
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = check_all_sy_lfr_rw_k( TC, &datafield_pos, &rw_k );
                     if (flag  != LFR_SUCCESSFUL)
                     {
                         parPtr = (char*) &sy_lfr_pas_filter_shift;
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, datafield_pos + DATAFIELD_OFFSET, parPtr[FLOAT_LSBYTE] );
                     }
                 }
                 return flag;
             }
             //**************
             // KCOEFFICIENTS
             int set_sy_lfr_kcoeff( ccsdsTelecommandPacket_t *TC,rtems_id queue_id )
             {
                 unsigned int kcoeff;
                 unsigned short sy_lfr_kcoeff_frequency;
                 unsigned short bin;
                 float *kcoeffPtr_norm;
                 float *kcoeffPtr_sbm;
                 int status;
                 unsigned char *kcoeffLoadPtr;
                 unsigned char *kcoeffNormPtr;
                 unsigned char *kcoeffSbmPtr_a;
                 unsigned char *kcoeffSbmPtr_b;
                 sy_lfr_kcoeff_frequency = 0;
                 bin = 0;
                 kcoeffPtr_norm = NULL;
                 kcoeffPtr_sbm  = NULL;
                 status = LFR_SUCCESSFUL;
                 // copy the value of the frequency byte by byte DO NOT USE A SHORT* POINTER
                 copyInt16ByChar( (unsigned char*) &sy_lfr_kcoeff_frequency, &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY] );
                 if ( sy_lfr_kcoeff_frequency >= NB_BINS_COMPRESSED_SM )
                 {
                     PRINTF1("ERR *** in set_sy_lfr_kcoeff_frequency *** sy_lfr_kcoeff_frequency = %d\n", sy_lfr_kcoeff_frequency)
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY + DATAFIELD_OFFSET,
                                                               TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY + 1]  ); // +1 to get the LSB instead of the MSB
                     status = LFR_DEFAULT;
                 }
                 else
                 {
                     if       ( ( sy_lfr_kcoeff_frequency >= 0 )
                             && ( sy_lfr_kcoeff_frequency < NB_BINS_COMPRESSED_SM_F0 ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f0_norm;
                         kcoeffPtr_sbm  = k_coeff_intercalib_f0_sbm;
                         bin   = sy_lfr_kcoeff_frequency;
                     }
                     else if   ( ( sy_lfr_kcoeff_frequency >= NB_BINS_COMPRESSED_SM_F0 )
                              && ( sy_lfr_kcoeff_frequency < (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1) ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f1_norm;
                         kcoeffPtr_sbm  = k_coeff_intercalib_f1_sbm;
                         bin   = sy_lfr_kcoeff_frequency -  NB_BINS_COMPRESSED_SM_F0;
                     }
                     else if   ( ( sy_lfr_kcoeff_frequency >= (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1) )
                              && ( sy_lfr_kcoeff_frequency <  (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 + NB_BINS_COMPRESSED_SM_F2) ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f2;
                         kcoeffPtr_sbm  = NULL;
                         bin   = sy_lfr_kcoeff_frequency - (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1);
                     }
                 }
                 if (kcoeffPtr_norm != NULL )    // update K coefficient for NORMAL data products
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         // destination
                         kcoeffNormPtr = (unsigned char*) &kcoeffPtr_norm[ (bin * NB_K_COEFF_PER_BIN) + kcoeff ];
                         // source
                         kcoeffLoadPtr = (unsigned char*) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_1 + (NB_BYTES_PER_FLOAT * kcoeff)];
                         // copy source to destination
                         copyFloatByChar( kcoeffNormPtr,  kcoeffLoadPtr );
                     }
                 }
                 if (kcoeffPtr_sbm != NULL )     // update K coefficient for SBM data products
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         // destination
                         kcoeffSbmPtr_a= (unsigned char*) &kcoeffPtr_sbm[ ( (bin * NB_K_COEFF_PER_BIN) + kcoeff) * SBM_COEFF_PER_NORM_COEFF        ];
                         kcoeffSbmPtr_b= (unsigned char*) &kcoeffPtr_sbm[ (((bin * NB_K_COEFF_PER_BIN) + kcoeff) * SBM_KCOEFF_PER_NORM_KCOEFF) + 1 ];
                         // source
                         kcoeffLoadPtr = (unsigned char*) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_1 + (NB_BYTES_PER_FLOAT * kcoeff)];
                         // copy source to destination
                         copyFloatByChar( kcoeffSbmPtr_a, kcoeffLoadPtr );
                         copyFloatByChar( kcoeffSbmPtr_b, kcoeffLoadPtr );
                     }
                 }
             //    print_k_coeff();
                 return status;
             }
             void copyFloatByChar( unsigned char *destination, unsigned char *source )
             {
                 destination[BYTE_0] = source[BYTE_0];
                 destination[BYTE_1] = source[BYTE_1];
                 destination[BYTE_2] = source[BYTE_2];
                 destination[BYTE_3] = source[BYTE_3];
             }
             void copyInt32ByChar( unsigned char *destination, unsigned char *source )
             {
                 destination[BYTE_0] = source[BYTE_0];
                 destination[BYTE_1] = source[BYTE_1];
                 destination[BYTE_2] = source[BYTE_2];
                 destination[BYTE_3] = source[BYTE_3];
             }
             void copyInt16ByChar( unsigned char *destination, unsigned char *source )
             {
                 destination[BYTE_0] = source[BYTE_0];
                 destination[BYTE_1] = source[BYTE_1];
             }
             void floatToChar( float value, unsigned char* ptr)
             {
                 unsigned char* valuePtr;
                 valuePtr = (unsigned char*) &value;
                 ptr[BYTE_0] = valuePtr[BYTE_0];
                 ptr[BYTE_1] = valuePtr[BYTE_1];
                 ptr[BYTE_2] = valuePtr[BYTE_2];
                 ptr[BYTE_3] = valuePtr[BYTE_3];
             }
             //**********
             // init dump
             void init_parameter_dump( void )
             {
                 /** This function initialize the parameter_dump_packet global variable with default values.
                  *
                  */
                 unsigned int k;
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (APID_TM_PARAMETER_DUMP >> SHIFT_1_BYTE);
                 parameter_dump_packet.packetID[1] = (unsigned char) APID_TM_PARAMETER_DUMP;
                 parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> SHIFT_1_BYTE);
                 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[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 parameter_dump_packet.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 parameter_dump_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 parameter_dump_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 parameter_dump_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.sy_lfr_common_parameters_spare    = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.sy_lfr_common_parameters          = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DFLT_SY_LFR_N_SWF_L >> SHIFT_1_BYTE);
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DFLT_SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DFLT_SY_LFR_N_SWF_P >> SHIFT_1_BYTE);
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DFLT_SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DFLT_SY_LFR_N_ASM_P >> SHIFT_1_BYTE);
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DFLT_SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DFLT_SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DFLT_SY_LFR_N_BP_P1;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = (unsigned char) DFLT_SY_LFR_N_CWF_LONG_F3;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
                 //************
                 // FBINS MASKS
                 for (k=0; k < BYTES_PER_MASKS_SET; k++)
                 {
                     parameter_dump_packet.sy_lfr_fbins_f0_word1[k] = INT8_ALL_F;
                 }
                 // PAS FILTER PARAMETERS
                 parameter_dump_packet.pa_rpw_spare8_2                   = INIT_CHAR;
                 parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = INIT_CHAR;
                 parameter_dump_packet.sy_lfr_pas_filter_modulus         = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
                 floatToChar( DEFAULT_SY_LFR_PAS_FILTER_TBAD,    parameter_dump_packet.sy_lfr_pas_filter_tbad );
                 parameter_dump_packet.sy_lfr_pas_filter_offset          = DEFAULT_SY_LFR_PAS_FILTER_OFFSET;
                 floatToChar( DEFAULT_SY_LFR_PAS_FILTER_SHIFT,   parameter_dump_packet.sy_lfr_pas_filter_shift );
                 floatToChar( DEFAULT_SY_LFR_SC_RW_DELTA_F,      parameter_dump_packet.sy_lfr_sc_rw_delta_f );
                 // RW1_K
                 floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw1_k1);
                 floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw1_k2);
                 floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw1_k3);
                 floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw1_k4);
                 // RW2_K
                 floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw2_k1);
                 floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw2_k2);
                 floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw2_k3);
                 floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw2_k4);
                 // RW3_K
                 floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw3_k1);
                 floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw3_k2);
                 floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw3_k3);
                 floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw3_k4);
                 // RW4_K
                 floatToChar( DEFAULT_SY_LFR_RW_K1, parameter_dump_packet.sy_lfr_rw4_k1);
                 floatToChar( DEFAULT_SY_LFR_RW_K2, parameter_dump_packet.sy_lfr_rw4_k2);
                 floatToChar( DEFAULT_SY_LFR_RW_K3, parameter_dump_packet.sy_lfr_rw4_k3);
                 floatToChar( DEFAULT_SY_LFR_RW_K4, parameter_dump_packet.sy_lfr_rw4_k4);
                 // LFR_RW_MASK
                 for (k=0; k < BYTES_PER_MASKS_SET; k++)
                 {
                     parameter_dump_packet.sy_lfr_rw_mask_f0_word1[k] = INT8_ALL_F;
                 }
                 // once the reaction wheels masks have been initialized, they have to be merged with the fbins masks
                 merge_fbins_masks();
             }
             void init_kcoefficients_dump( void )
             {
                 init_kcoefficients_dump_packet( &kcoefficients_dump_1, PKTNR_1, KCOEFF_BLK_NR_PKT1 );
                 init_kcoefficients_dump_packet( &kcoefficients_dump_2, PKTNR_2, KCOEFF_BLK_NR_PKT2  );
                 kcoefficient_node_1.previous = NULL;
                 kcoefficient_node_1.next = NULL;
                 kcoefficient_node_1.sid = TM_CODE_K_DUMP;
                 kcoefficient_node_1.coarseTime = INIT_CHAR;
                 kcoefficient_node_1.fineTime = INIT_CHAR;
                 kcoefficient_node_1.buffer_address = (int) &kcoefficients_dump_1;
                 kcoefficient_node_1.status = INIT_CHAR;
                 kcoefficient_node_2.previous = NULL;
                 kcoefficient_node_2.next = NULL;
                 kcoefficient_node_2.sid = TM_CODE_K_DUMP;
                 kcoefficient_node_2.coarseTime = INIT_CHAR;
                 kcoefficient_node_2.fineTime = INIT_CHAR;
                 kcoefficient_node_2.buffer_address = (int) &kcoefficients_dump_2;
                 kcoefficient_node_2.status = INIT_CHAR;
             }
             void init_kcoefficients_dump_packet( Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump, unsigned char pkt_nr, unsigned char blk_nr )
             {
                 unsigned int k;
                 unsigned int packetLength;
                 packetLength =
                         ((blk_nr * KCOEFF_BLK_SIZE) + BYTE_POS_KCOEFFICIENTS_PARAMETES) - CCSDS_TC_TM_PACKET_OFFSET; // 4 bytes for the CCSDS header
                 kcoefficients_dump->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 kcoefficients_dump->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 kcoefficients_dump->reserved = CCSDS_RESERVED;
                 kcoefficients_dump->userApplication = CCSDS_USER_APP;
                 kcoefficients_dump->packetID[0] = (unsigned char) (APID_TM_PARAMETER_DUMP >> SHIFT_1_BYTE);
                 kcoefficients_dump->packetID[1] = (unsigned char) APID_TM_PARAMETER_DUMP;
                 kcoefficients_dump->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 kcoefficients_dump->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 kcoefficients_dump->packetLength[0] = (unsigned char) (packetLength >> SHIFT_1_BYTE);
                 kcoefficients_dump->packetLength[1] = (unsigned char) packetLength;
                 // DATA FIELD HEADER
                 kcoefficients_dump->spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 kcoefficients_dump->serviceType = TM_TYPE_K_DUMP;
                 kcoefficients_dump->serviceSubType = TM_SUBTYPE_K_DUMP;
                 kcoefficients_dump->destinationID= TM_DESTINATION_ID_GROUND;
                 kcoefficients_dump->time[BYTE_0] = INIT_CHAR;
                 kcoefficients_dump->time[BYTE_1] = INIT_CHAR;
                 kcoefficients_dump->time[BYTE_2] = INIT_CHAR;
                 kcoefficients_dump->time[BYTE_3] = INIT_CHAR;
                 kcoefficients_dump->time[BYTE_4] = INIT_CHAR;
                 kcoefficients_dump->time[BYTE_5] = INIT_CHAR;
                 kcoefficients_dump->sid = SID_K_DUMP;
                 kcoefficients_dump->pkt_cnt = KCOEFF_PKTCNT;
                 kcoefficients_dump->pkt_nr = PKTNR_1;
                 kcoefficients_dump->blk_nr = blk_nr;
                 //******************
                 // SOURCE DATA repeated N times with N in [0 .. PA_LFR_KCOEFF_BLK_NR]
                 // one blk is 2 + 4 * 32 = 130 bytes, 30 blks max in one packet (30 * 130 = 3900)
                 for (k=0; k<(KCOEFF_BLK_NR_PKT1 * KCOEFF_BLK_SIZE); k++)
                 {
                     kcoefficients_dump->kcoeff_blks[k] = INIT_CHAR;
                 }
             }
             void increment_seq_counter_destination_id_dump( unsigned char *packet_sequence_control, unsigned char destination_id )
             {
                 /** This function increment the packet sequence control parameter of a TC, depending on its destination ID.
                  *
                  * @param packet_sequence_control points to the packet sequence control which will be incremented
                  * @param destination_id is the destination ID of the TM, there is one counter by destination ID
                  *
                  * If the destination ID is not known, a dedicated counter is incremented.
                  *
                  */
                 unsigned short sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 unsigned char i;
                 switch (destination_id)
                 {
                 case SID_TC_GROUND:
                     i = GROUND;
                     break;
                 case SID_TC_MISSION_TIMELINE:
                     i = MISSION_TIMELINE;
                     break;
                 case SID_TC_TC_SEQUENCES:
                     i = TC_SEQUENCES;
                     break;
                 case SID_TC_RECOVERY_ACTION_CMD:
                     i = RECOVERY_ACTION_CMD;
                     break;
                 case SID_TC_BACKUP_MISSION_TIMELINE:
                     i = BACKUP_MISSION_TIMELINE;
                     break;
                 case SID_TC_DIRECT_CMD:
                     i = DIRECT_CMD;
                     break;
                 case SID_TC_SPARE_GRD_SRC1:
                     i = SPARE_GRD_SRC1;
                     break;
                 case SID_TC_SPARE_GRD_SRC2:
                     i = SPARE_GRD_SRC2;
                     break;
                 case SID_TC_OBCP:
                     i = OBCP;
                     break;
                 case SID_TC_SYSTEM_CONTROL:
                     i = SYSTEM_CONTROL;
                     break;
                 case SID_TC_AOCS:
                     i = AOCS;
                     break;
                 case SID_TC_RPW_INTERNAL:
                     i = RPW_INTERNAL;
                     break;
                 default:
                     i = GROUND;
                     break;
                 }
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << SHIFT_1_BYTE;
                 sequence_cnt                = sequenceCounters_TM_DUMP[ i ] & SEQ_CNT_MASK;
                 new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
                 packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> SHIFT_1_BYTE);
                 packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                 // increment the sequence counter
                 if ( sequenceCounters_TM_DUMP[ i ] < SEQ_CNT_MAX )
                 {
                     sequenceCounters_TM_DUMP[ i ] = sequenceCounters_TM_DUMP[ i ] + 1;
                 }
                 else
                 {
                     sequenceCounters_TM_DUMP[ i ] = 0;
                 }
             }

src/tm_lfr_tc_exe.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions to send TM packets related to TC parsing and execution.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to send appropriate TM packets after parsing and execution:
              * - TM_LFR_TC_EXE_SUCCESS
              * - TM_LFR_TC_EXE_INCONSISTENT
              * - TM_LFR_TC_EXE_NOT_EXECUTABLE
              * - TM_LFR_TC_EXE_NOT_IMPLEMENTED
              * - TM_LFR_TC_EXE_ERROR
              * - TM_LFR_TC_EXE_CORRUPTED
              *
              */
             #include "tm_lfr_tc_exe.h"
             int send_tm_lfr_tc_exe_success( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_SUCCESS packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_SUCCESS_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (APID_TM_TC_EXE >> SHIFT_1_BYTE);
                 TM.packetID[1] = (unsigned char) (APID_TM_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS >> SHIFT_1_BYTE);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_OK;
                 TM.destinationID = TC->sourceID;
                 TM.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 TM.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 TM.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 messageSize = PACKET_LENGTH_TC_EXE_SUCCESS + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
                 }
                 // UPDATE HK FIELDS
                 update_last_TC_exe( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_inconsistent( ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                                 unsigned char byte_position, unsigned char rcv_value )
             {
                 /** This function sends a TM_LFR_TC_EXE_INCONSISTENT packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  * @param byte_position is the byte position of the MSB of the parameter that has been seen as inconsistent
                  * @param rcv_value  is the value of the LSB of the parameter that has been detected as inconsistent
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_INCONSISTENT_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (APID_TM_TC_EXE >> SHIFT_1_BYTE);
                 TM.packetID[1] = (unsigned char) (APID_TM_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT >> SHIFT_1_BYTE);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;
                 TM.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 TM.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 TM.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (WRONG_APP_DATA >> SHIFT_1_BYTE);
                 TM.tc_failure_code[1] = (char) (WRONG_APP_DATA     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.byte_position = byte_position;
                 TM.rcv_value = (unsigned char) rcv_value;
                 messageSize = PACKET_LENGTH_TC_EXE_INCONSISTENT + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_inconsistent *** ERR\n")
                 }
                 // UPDATE HK FIELDS
                 update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_not_executable( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_NOT_EXECUTABLE packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (APID_TM_TC_EXE >> SHIFT_1_BYTE);
                 TM.packetID[1] = (unsigned char) (APID_TM_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE >> SHIFT_1_BYTE);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;    // default destination id
                 TM.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 TM.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 TM.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (TC_NOT_EXE >> SHIFT_1_BYTE);
                 TM.tc_failure_code[1] = (char) (TC_NOT_EXE     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.lfr_status_word[0] = housekeeping_packet.lfr_status_word[0];
                 TM.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1];
                 messageSize = PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_not_executable *** ERR\n")
                 }
                 // UPDATE HK FIELDS
                 update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_not_implemented( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
             {
                 /** This function sends a TM_LFR_TC_EXE_NOT_IMPLEMENTED packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (APID_TM_TC_EXE >> SHIFT_1_BYTE);
                 TM.packetID[1] = (unsigned char) (APID_TM_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED >> SHIFT_1_BYTE);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;    // default destination id
                 TM.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 TM.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 TM.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (FUNCT_NOT_IMPL >> SHIFT_1_BYTE);
                 TM.tc_failure_code[1] = (char) (FUNCT_NOT_IMPL     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 messageSize = PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_not_implemented *** ERR\n")
                 }
                 // UPDATE HK FIELDS
                 update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_error( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_ERROR packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_ERROR_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (APID_TM_TC_EXE >> SHIFT_1_BYTE);
                 TM.packetID[1] = (unsigned char) (APID_TM_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR >> SHIFT_1_BYTE);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;    // default destination id
                 TM.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 TM.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 TM.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (FAIL_DETECTED >> SHIFT_1_BYTE);
                 TM.tc_failure_code[1] = (char) (FAIL_DETECTED     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 messageSize = PACKET_LENGTH_TC_EXE_ERROR + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                 }
                 // UPDATE HK FIELDS
                 update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_corrupted(ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                              unsigned char *computed_CRC, unsigned char *currentTC_LEN_RCV,
                                              unsigned char destinationID )
             {
                 /** This function sends a TM_LFR_TC_EXE_CORRUPTED packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  * @param computed_CRC points to a buffer of two bytes containing the CRC computed during the parsing of the TeleCommand
                  * @param currentTC_LEN_RCV points to a buffer of two bytes containing a packet size field computed on the received data
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_CORRUPTED_t TM;
                 unsigned char messageSize;
                 unsigned int packetLength;
                 unsigned int estimatedPacketLength;
                 unsigned char *packetDataField;
                 packetLength = (TC->packetLength[0] * CONST_256) + TC->packetLength[1];   // compute the packet length parameter written in the TC
                 estimatedPacketLength = (unsigned int) ((currentTC_LEN_RCV[0] * CONST_256) + currentTC_LEN_RCV[1]);
                 packetDataField = (unsigned char *) &TC->headerFlag_pusVersion_Ack; // get the beginning of the data field
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (APID_TM_TC_EXE >> SHIFT_1_BYTE);
                 TM.packetID[1] = (unsigned char) (APID_TM_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED >> SHIFT_1_BYTE);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = destinationID;
                 TM.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 TM.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 TM.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 TM.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (unsigned char) (CORRUPTED >> SHIFT_1_BYTE);
                 TM.tc_failure_code[1] = (unsigned char) (CORRUPTED     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.pkt_len_rcv_value[0] = TC->packetLength[0];
                 TM.pkt_len_rcv_value[1] = TC->packetLength[1];
                 TM.pkt_datafieldsize_cnt[0] = currentTC_LEN_RCV[0];
                 TM.pkt_datafieldsize_cnt[1] = currentTC_LEN_RCV[1];
                 TM.rcv_crc[0] = packetDataField[ estimatedPacketLength - 1 ];
                 TM.rcv_crc[1] = packetDataField[ estimatedPacketLength     ];
                 TM.computed_crc[0] = computed_CRC[0];
                 TM.computed_crc[1] = computed_CRC[1];
                 messageSize = PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                 }
                 // UPDATE HK FIELDS
                 update_last_TC_rej( TC, TM.time );
                 return status;
             }
             void increment_seq_counter_destination_id( unsigned char *packet_sequence_control, unsigned char destination_id )
             {
                 /** This function increment the packet sequence control parameter of a TC, depending on its destination ID.
                  *
                  * @param packet_sequence_control points to the packet sequence control which will be incremented
                  * @param destination_id is the destination ID of the TM, there is one counter by destination ID
                  *
                  * If the destination ID is not known, a dedicated counter is incremented.
                  *
                  */
                 unsigned short sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 unsigned char i;
                 switch (destination_id)
                 {
                 case SID_TC_GROUND:
                     i = GROUND;
                     break;
                 case SID_TC_MISSION_TIMELINE:
                     i = MISSION_TIMELINE;
                     break;
                 case SID_TC_TC_SEQUENCES:
                     i = TC_SEQUENCES;
                     break;
                 case SID_TC_RECOVERY_ACTION_CMD:
                     i = RECOVERY_ACTION_CMD;
                     break;
                 case SID_TC_BACKUP_MISSION_TIMELINE:
                     i = BACKUP_MISSION_TIMELINE;
                     break;
                 case SID_TC_DIRECT_CMD:
                     i = DIRECT_CMD;
                     break;
                 case SID_TC_SPARE_GRD_SRC1:
                     i = SPARE_GRD_SRC1;
                     break;
                 case SID_TC_SPARE_GRD_SRC2:
                     i = SPARE_GRD_SRC2;
                     break;
                 case SID_TC_OBCP:
                     i = OBCP;
                     break;
                 case SID_TC_SYSTEM_CONTROL:
                     i = SYSTEM_CONTROL;
                     break;
                 case SID_TC_AOCS:
                     i = AOCS;
                     break;
                 case SID_TC_RPW_INTERNAL:
                     i = RPW_INTERNAL;
                     break;
                 default:
                     i = GROUND;
                     break;
                 }
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << SHIFT_1_BYTE;
                 sequence_cnt                = sequenceCounters_TC_EXE[ i ] & SEQ_CNT_MASK;
                 new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
                 packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> SHIFT_1_BYTE);
                 packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                 // increment the sequence counter
                 if ( sequenceCounters_TC_EXE[ i ] < SEQ_CNT_MAX )
                 {
                     sequenceCounters_TC_EXE[ i ] = sequenceCounters_TC_EXE[ i ] + 1;
                 }
                 else
                 {
                     sequenceCounters_TC_EXE[ i ] = 0;
                 }
             }

src/wf_handler.c +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             /** Functions and tasks related to waveform packet generation.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle waveforms, in snapshot or continuous format.\n
              *
              */
             #include "wf_handler.h"
             //***************
             // waveform rings
             // F0
             ring_node waveform_ring_f0[NB_RING_NODES_F0]= {0};
             ring_node *current_ring_node_f0             = NULL;
             ring_node *ring_node_to_send_swf_f0         = NULL;
             // F1
             ring_node waveform_ring_f1[NB_RING_NODES_F1] = {0};
             ring_node *current_ring_node_f1             = NULL;
             ring_node *ring_node_to_send_swf_f1         = NULL;
             ring_node *ring_node_to_send_cwf_f1         = NULL;
             // F2
             ring_node waveform_ring_f2[NB_RING_NODES_F2] = {0};
             ring_node *current_ring_node_f2             = NULL;
             ring_node *ring_node_to_send_swf_f2         = NULL;
             ring_node *ring_node_to_send_cwf_f2         = NULL;
             // F3
             ring_node waveform_ring_f3[NB_RING_NODES_F3] = {0};
             ring_node *current_ring_node_f3             = NULL;
             ring_node *ring_node_to_send_cwf_f3         = NULL;
             char wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK ] = {0};
             bool extractSWF1 = false;
             bool extractSWF2 = false;
             bool swf0_ready_flag_f1 = false;
             bool swf0_ready_flag_f2 = false;
             bool swf1_ready = false;
             bool swf2_ready = false;
             int swf1_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) ] = {0};
             int swf2_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) ] = {0};
             ring_node ring_node_swf1_extracted = {0};
             ring_node ring_node_swf2_extracted = {0};
             typedef enum resynchro_state_t
             {
                 MEASURE,
                 CORRECTION
             } resynchro_state;
             //*********************
             // Interrupt SubRoutine
             ring_node * getRingNodeToSendCWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case CHANNELF1:
                     node = ring_node_to_send_cwf_f1;
                     break;
                 case CHANNELF2:
                     node = ring_node_to_send_cwf_f2;
                     break;
                 case CHANNELF3:
                     node = ring_node_to_send_cwf_f3;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             ring_node * getRingNodeToSendSWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case CHANNELF0:
                     node = ring_node_to_send_swf_f0;
                     break;
                 case CHANNELF1:
                     node = ring_node_to_send_swf_f1;
                     break;
                 case CHANNELF2:
                     node = ring_node_to_send_swf_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             void reset_extractSWF( void )
             {
                 extractSWF1 = false;
                 extractSWF2 = false;
                 swf0_ready_flag_f1 = false;
                 swf0_ready_flag_f2 = false;
                 swf1_ready = false;
                 swf2_ready = false;
             }
             inline void waveforms_isr_f3( void )
             {
                 rtems_status_code spare_status;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_BURST)  // in BURST the data are used to place v, e1 and e2 in the HK packet
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     //***
                     // F3
                     if ( (waveform_picker_regs->status & BITS_WFP_STATUS_F3) != INIT_CHAR ) {  // [1100 0000] check the f3 full bits
                         ring_node_to_send_cwf_f3    = current_ring_node_f3->previous;
                         current_ring_node_f3        = current_ring_node_f3->next;
                         if ((waveform_picker_regs->status & BIT_WFP_BUF_F3_0) == BIT_WFP_BUF_F3_0){             // [0100 0000] f3 buffer 0 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_0_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_0_fine_time;
                             waveform_picker_regs->addr_data_f3_0    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F3_0; // [1000 1000 0100 0000]
                         }
                         else if ((waveform_picker_regs->status & BIT_WFP_BUF_F3_1) == BIT_WFP_BUF_F3_1){    // [1000 0000] f3 buffer 1 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_1_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_1_fine_time;
                             waveform_picker_regs->addr_data_f3_1    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F3_1; // [1000 1000 1000 0000]
                         }
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                         }
                     }
                 }
             }
             inline void waveforms_isr_burst( void )
             {
                 unsigned char status;
                 rtems_status_code spare_status;
                 status = (waveform_picker_regs->status & BITS_WFP_STATUS_F2) >> SHIFT_WFP_STATUS_F2;   // [0011 0000] get the status bits for f2
                 switch(status)
                 {
                 case BIT_WFP_BUFFER_0:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F2_0; // [0100 0100 0001 0000]
                     break;
                 case BIT_WFP_BUFFER_1:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F2_1; // [0100 0100 0010 0000]
                     break;
                 default:
                     break;
                 }
             }
             inline void waveform_isr_normal_sbm1_sbm2( void )
             {
                 rtems_status_code status;
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & BITS_WFP_STATUS_F0) != INIT_CHAR )  // [0000 0011] check the f0 full bits
                 {
                     swf0_ready_flag_f1 = true;
                     swf0_ready_flag_f2 = true;
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & BIT_WFP_BUFFER_0) == BIT_WFP_BUFFER_0)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F0_0; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & BIT_WFP_BUFFER_1) == BIT_WFP_BUFFER_1)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F0_1; // [0001 0001 0000 0010]
                     }
                     // send an event to the WFRM task for resynchro activities
                     status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_SWF_RESYNCH );
                     status = rtems_event_send( Task_id[TASKID_CALI], RTEMS_EVENT_CAL_SWEEP_WAKE );
                 }
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & BITS_WFP_STATUS_F1) != INIT_CHAR ) {  // [0000 1100] check the f1 full bits
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & BIT_WFP_BUF_F1_0) == BIT_WFP_BUF_F1_0)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F1_0; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & BIT_WFP_BUF_F1_1) == BIT_WFP_BUF_F1_1)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F1_1; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     // (2) send an event for the the CWF1 task for transmission (and snapshot extraction if needed)
                     status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_NORM_S1_S2 );
                 }
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & BITS_WFP_STATUS_F2) != INIT_CHAR ) {  // [0011 0000] check the f2 full bit
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f2      = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid = SID_SBM2_CWF_F2;
                     current_ring_node_f2          = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & BIT_WFP_BUF_F2_0) == BIT_WFP_BUF_F2_0)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F2_0; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & BIT_WFP_BUF_F2_1) == BIT_WFP_BUF_F2_1)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & RST_WFP_F2_1; // [0100 0100 0010 0000]
                     }
                     // (2) send an event for the waveforms transmission
                     status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_NORM_S1_S2 );
                 }
             }
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
                 /** This is the interrupt sub routine called by the waveform picker core.
                  *
                  * This ISR launch different actions depending mainly on two pieces of information:
                  * 1. the values read in the registers of the waveform picker.
                  * 2. the current LFR mode.
                  *
                  */
                 // STATUS
                 // new error        error buffer full
                 // 15 14 13 12      11 10 9  8
                 // f3 f2 f1 f0      f3 f2 f1 f0
                 //
                 // ready buffer
                 // 7    6    5    4    3    2    1    0
                 // f3_1 f3_0 f2_1 f2_0 f1_1 f1_0 f0_1 f0_0
                 rtems_status_code spare_status;
                 waveforms_isr_f3();
                 //*************************************************
                 // copy the status bits in the housekeeping packets
                 housekeeping_packet.hk_lfr_vhdl_iir_cal =
                         (unsigned char) ((waveform_picker_regs->status & BYTE0_MASK) >> SHIFT_1_BYTE);
                 if ( (waveform_picker_regs->status & BYTE0_MASK) != INIT_CHAR)    // [1111 1111 0000 0000] check the error bits
                 {
                     spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_10 );
                 }
                 switch(lfrCurrentMode)
                 {
                 //********
                 // STANDBY
                 case LFR_MODE_STANDBY:
                     break;
                     //**************************
                     // LFR NORMAL, SBM1 and SBM2
                 case LFR_MODE_NORMAL:
                 case LFR_MODE_SBM1:
                 case LFR_MODE_SBM2:
                     waveform_isr_normal_sbm1_sbm2();
                     break;
                     //******
                     // BURST
                 case LFR_MODE_BURST:
                     waveforms_isr_burst();
                     break;
                     //********
                     // DEFAULT
                 default:
                     break;
                 }
             }
             //************
             // RTEMS TASKS
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packets are sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F0
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F1
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_swf1_extracted_ptr;
                 ring_node *ring_node_swf2_extracted_ptr;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id = RTEMS_ID_NONE;
                 ring_node_swf1_extracted_ptr = (ring_node *) &ring_node_swf1_extracted;
                 ring_node_swf2_extracted_ptr = (ring_node *) &ring_node_swf2_extracted;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in WFRM *** ERR get_message_queue_id_send %d\n", status);
                 }
                 BOOT_PRINTF("in WFRM ***\n");
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive(RTEMS_EVENT_MODE_NORMAL | RTEMS_EVENT_SWF_RESYNCH,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM2\n");
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_swf1_extracted_ptr->sid       = SID_NORM_SWF_F1;
                         ring_node_swf2_extracted_ptr->sid       = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,     sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_swf1_extracted_ptr, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_swf2_extracted_ptr, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_SWF_RESYNCH)
                     {
                         snapshot_resynchronization( (unsigned char *)  &ring_node_to_send_swf_f0->coarseTime );
                     }
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_CWF_F3
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node ring_node_cwf3_light;
                 ring_node *ring_node_to_send_cwf;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id = RTEMS_ID_NONE;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF3 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                 // init the ring_node_cwf3_light structure
                 ring_node_cwf3_light.buffer_address = (int) wf_cont_f3_light;
                 ring_node_cwf3_light.coarseTime = INIT_CHAR;
                 ring_node_cwf3_light.fineTime = INIT_CHAR;
                 ring_node_cwf3_light.next = NULL;
                 ring_node_cwf3_light.previous = NULL;
                 ring_node_cwf3_light.sid = SID_NORM_CWF_F3;
                 ring_node_cwf3_light.status = INIT_CHAR;
                 BOOT_PRINTF("in CWF3 ***\n");
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                          || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode==LFR_MODE_SBM2) )
                     {
                         ring_node_to_send_cwf = getRingNodeToSendCWF( CHANNELF3 );
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & BIT_CWF_LONG_F3) == BIT_CWF_LONG_F3)
                         {
                             PRINTF("send CWF_LONG_F3\n");
                             ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                             status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                         }
                         else
                         {
                             PRINTF("send CWF_F3 (light)\n");
                             send_waveform_CWF3_light( ring_node_to_send_cwf, &ring_node_cwf3_light, queue_id );
                         }
                     }
                     else
                     {
                         PRINTF1("in CWF3 *** lfrCurrentMode is %d, no data will be sent\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_BURST_CWF_F2
                  * - TM_LFR_SCIENCE_SBM2_CWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send;
                 unsigned long long int acquisitionTimeF0_asLong;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id = RTEMS_ID_NONE;
                 acquisitionTimeF0_asLong = INIT_CHAR;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF2 ***\n");
                 while(1){
                     // wait for an RTEMS_EVENT// send the snapshot when built
                     status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 );
                     rtems_event_receive( RTEMS_EVENT_MODE_NORM_S1_S2 | RTEMS_EVENT_MODE_BURST,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send = getRingNodeToSendCWF( CHANNELF2 );
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {   // data are sent whatever the transition time
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                     }
                     else if (event_out == RTEMS_EVENT_MODE_NORM_S1_S2)
                     {
                         if ( lfrCurrentMode == LFR_MODE_SBM2 )
                         {
                             // data are sent depending on the transition time
                             if ( time_management_regs->coarse_time >= lastValidEnterModeTime)
                             {
                                 status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                             }
                         }
                         // launch snapshot extraction if needed
                         if (extractSWF2 == true)
                         {
                             ring_node_to_send_swf_f2 = ring_node_to_send_cwf_f2;
                             // extract the snapshot
                             build_snapshot_from_ring( ring_node_to_send_swf_f2, CHANNELF2, acquisitionTimeF0_asLong,
                                                       &ring_node_swf2_extracted, swf2_extracted );
                             extractSWF2 = false;
                             swf2_ready = true;  // once the snapshot at f2 is ready the CWF1 task will send an event to WFRM
                         }
                         if (swf0_ready_flag_f2 == true)
                         {
                             extractSWF2 = true;
                             // record the acquition time of the f0 snapshot to use to build the snapshot at f2
                             acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                             swf0_ready_flag_f2 = false;
                         }
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_SBM1_CWF_F1
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send_cwf;
                 event_out = EVENT_SETS_NONE_PENDING;
                 queue_id = RTEMS_ID_NONE;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF1 ***\n");
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_NORM_S1_S2,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send_cwf = getRingNodeToSendCWF( 1 );
                     ring_node_to_send_cwf_f1->sid = SID_SBM1_CWF_F1;
                     if (lfrCurrentMode == LFR_MODE_SBM1)
                     {
                         // data are sent depending on the transition time
                         if ( time_management_regs->coarse_time >= lastValidEnterModeTime )
                         {
                             status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                         }
                     }
                     // launch snapshot extraction if needed
                     if (extractSWF1 == true)
                     {
                         ring_node_to_send_swf_f1 = ring_node_to_send_cwf;
                         // launch the snapshot extraction
                         status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_NORM_S1_S2 );
                         extractSWF1 = false;
                     }
                     if (swf0_ready_flag_f1 == true)
                     {
                         extractSWF1 = true;
                         swf0_ready_flag_f1 = false;   // this step shall be executed only one time
                     }
                     if ((swf1_ready == true) && (swf2_ready == true))   // swf_f1 is ready after the extraction
                     {
                         status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL );
                         swf1_ready = false;
                         swf2_ready = false;
                     }
                 }
             }
             rtems_task swbd_task(rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the building of snapshots from different continuous waveforms buffers.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 unsigned long long int acquisitionTimeF0_asLong;
                 event_out = EVENT_SETS_NONE_PENDING;
                 acquisitionTimeF0_asLong = INIT_CHAR;
                 BOOT_PRINTF("in SWBD ***\n")
                         while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_NORM_S1_S2,
                                          RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_NORM_S1_S2)
                     {
                         acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                         build_snapshot_from_ring( ring_node_to_send_swf_f1, CHANNELF1, acquisitionTimeF0_asLong,
                                                   &ring_node_swf1_extracted, swf1_extracted );
                         swf1_ready = true;    // the snapshot has been extracted and is ready to be sent
                     }
                     else
                     {
                         PRINTF1("in SWBD *** unexpected rtems event received %x\n", (int) event_out)
                     }
                 }
             }
             //******************
             // general functions
             void WFP_init_rings( void )
             {
                 // F0 RING
                 init_ring( waveform_ring_f0, NB_RING_NODES_F0, wf_buffer_f0, WFRM_BUFFER );
                 // F1 RING
                 init_ring( waveform_ring_f1, NB_RING_NODES_F1, wf_buffer_f1, WFRM_BUFFER );
                 // F2 RING
                 init_ring( waveform_ring_f2, NB_RING_NODES_F2, wf_buffer_f2, WFRM_BUFFER );
                 // F3 RING
                 init_ring( waveform_ring_f3, NB_RING_NODES_F3, wf_buffer_f3, WFRM_BUFFER );
                 ring_node_swf1_extracted.buffer_address = (int) swf1_extracted;
                 ring_node_swf2_extracted.buffer_address = (int) swf2_extracted;
                 DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                         DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                         DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
                         DEBUG_PRINTF1("waveform_ring_f3 @%x\n", (unsigned int) waveform_ring_f3)
                         DEBUG_PRINTF1("wf_buffer_f0 @%x\n", (unsigned int) wf_buffer_f0)
                         DEBUG_PRINTF1("wf_buffer_f1 @%x\n", (unsigned int) wf_buffer_f1)
                         DEBUG_PRINTF1("wf_buffer_f2 @%x\n", (unsigned int) wf_buffer_f2)
                         DEBUG_PRINTF1("wf_buffer_f3 @%x\n", (unsigned int) wf_buffer_f3)
             }
             void WFP_reset_current_ring_nodes( void )
             {
                 current_ring_node_f0      = waveform_ring_f0[0].next;
                 current_ring_node_f1      = waveform_ring_f1[0].next;
                 current_ring_node_f2      = waveform_ring_f2[0].next;
                 current_ring_node_f3      = waveform_ring_f3[0].next;
                 ring_node_to_send_swf_f0  = waveform_ring_f0;
                 ring_node_to_send_swf_f1  = waveform_ring_f1;
                 ring_node_to_send_swf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f1  = waveform_ring_f1;
                 ring_node_to_send_cwf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f3  = waveform_ring_f3;
             }
             int send_waveform_CWF3_light( ring_node *ring_node_to_send, ring_node *ring_node_cwf3_light, rtems_id queue_id )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 unsigned int j;
                 int ret;
                 rtems_status_code status;
                 char *sample;
                 int *dataPtr;
                 ret = LFR_DEFAULT;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 ring_node_cwf3_light->coarseTime = ring_node_to_send->coarseTime;
                 ring_node_cwf3_light->fineTime = ring_node_to_send->fineTime;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     sample = (char*) &dataPtr[ (i * NB_WORDS_SWF_BLK) ];
                     for (j=0; j < CWF_BLK_SIZE; j++)
                     {
                         wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + j] = sample[ j ];
                     }
                 }
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, &ring_node_cwf3_light, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             void compute_acquisition_time( unsigned int coarseTime, unsigned int fineTime,
                                            unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char * acquisitionTime )
             {
                 unsigned long long int acquisitionTimeAsLong;
                 unsigned char localAcquisitionTime[BYTES_PER_TIME];
                 double deltaT;
                 deltaT = INIT_FLOAT;
                 localAcquisitionTime[BYTE_0] = (unsigned char) ( coarseTime >> SHIFT_3_BYTES );
                 localAcquisitionTime[BYTE_1] = (unsigned char) ( coarseTime >> SHIFT_2_BYTES );
                 localAcquisitionTime[BYTE_2] = (unsigned char) ( coarseTime >> SHIFT_1_BYTE  );
                 localAcquisitionTime[BYTE_3] = (unsigned char) ( coarseTime                  );
                 localAcquisitionTime[BYTE_4] = (unsigned char) ( fineTime   >> SHIFT_1_BYTE  );
                 localAcquisitionTime[BYTE_5] = (unsigned char) ( fineTime                    );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[BYTE_0] << SHIFT_5_BYTES )
                         + ( (unsigned long long int) localAcquisitionTime[BYTE_1] << SHIFT_4_BYTES )
                         + ( (unsigned long long int) localAcquisitionTime[BYTE_2] << SHIFT_3_BYTES )
                         + ( (unsigned long long int) localAcquisitionTime[BYTE_3] << SHIFT_2_BYTES )
                         + ( (unsigned long long int) localAcquisitionTime[BYTE_4] << SHIFT_1_BYTE  )
                         + ( (unsigned long long int) localAcquisitionTime[BYTE_5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * T0_IN_FINETIME ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * T1_IN_FINETIME ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * T2_IN_FINETIME ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * T1_IN_FINETIME ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * T2_IN_FINETIME ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * T2_IN_FINETIME ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * T3_IN_FINETIME ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * T3_IN_FINETIME ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d\n", sid)
                             deltaT = 0.;
                     break;
                 }
                 acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                 //
                 acquisitionTime[BYTE_0] = (unsigned char) (acquisitionTimeAsLong >> SHIFT_5_BYTES);
                 acquisitionTime[BYTE_1] = (unsigned char) (acquisitionTimeAsLong >> SHIFT_4_BYTES);
                 acquisitionTime[BYTE_2] = (unsigned char) (acquisitionTimeAsLong >> SHIFT_3_BYTES);
                 acquisitionTime[BYTE_3] = (unsigned char) (acquisitionTimeAsLong >> SHIFT_2_BYTES);
                 acquisitionTime[BYTE_4] = (unsigned char) (acquisitionTimeAsLong >> SHIFT_1_BYTE );
                 acquisitionTime[BYTE_5] = (unsigned char) (acquisitionTimeAsLong                 );
             }
             void build_snapshot_from_ring( ring_node *ring_node_to_send,
                                            unsigned char frequencyChannel,
                                            unsigned long long int acquisitionTimeF0_asLong,
                                            ring_node *ring_node_swf_extracted,
                                            int *swf_extracted)
             {
                 unsigned int i;
                 unsigned int node;
                 unsigned long long int centerTime_asLong;
                 unsigned long long int acquisitionTime_asLong;
                 unsigned long long int bufferAcquisitionTime_asLong;
                 unsigned char *ptr1;
                 unsigned char *ptr2;
                 unsigned char *timeCharPtr;
                 unsigned char nb_ring_nodes;
                 unsigned long long int frequency_asLong;
                 unsigned long long int nbTicksPerSample_asLong;
                 unsigned long long int nbSamplesPart1_asLong;
                 unsigned long long int sampleOffset_asLong;
                 unsigned int deltaT_F0;
                 unsigned int deltaT_F1;
                 unsigned long long int deltaT_F2;
                 deltaT_F0 = DELTAT_F0;
                 deltaT_F1 = DELTAT_F1;
                 deltaT_F2 = DELTAT_F2;
                 sampleOffset_asLong = INIT_CHAR;
                 // (1) get the f0 acquisition time => the value is passed in argument
                 // (2) compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
                 acquisitionTime_asLong = centerTime_asLong;         //set to default value (Don_Initialisation_P2)
                 bufferAcquisitionTime_asLong = centerTime_asLong;   //set to default value (Don_Initialisation_P2)
                 nbTicksPerSample_asLong = TICKS_PER_T2;             //set to default value (Don_Initialisation_P2)
                 // (3) compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case CHANNELF1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = FREQ_F1;
                     nbTicksPerSample_asLong = TICKS_PER_T1;  // 65536 / 4096;
                     break;
                 case CHANNELF2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = FREQ_F2;
                     nbTicksPerSample_asLong = TICKS_PER_T2;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     nb_ring_nodes = 0;
                     frequency_asLong = FREQ_F2;
                     nbTicksPerSample_asLong = TICKS_PER_T2;
                     break;
                 }
                 //*****************************************************************************
                 // (4) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 node = 0;
                 while ( node < nb_ring_nodes)
                 {
                     bufferAcquisitionTime_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send->coarseTime );
                     if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                     {
                         node = nb_ring_nodes;
                     }
                     else
                     {
                         node = node + 1;
                         ring_node_to_send = ring_node_to_send->previous;
                     }
                 }
                 // (5) compute the number of samples to take in the current buffer
                 sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> SHIFT_2_BYTES;
                 nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
                 // (6) compute the final acquisition time
                 acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                         (sampleOffset_asLong * nbTicksPerSample_asLong);
                 // (7) copy the acquisition time at the beginning of the extrated snapshot
                 ptr1 = (unsigned char*) &acquisitionTime_asLong;
                 // fine time
                 ptr2 = (unsigned char*) &ring_node_swf_extracted->fineTime;
                 ptr2[BYTE_2] = ptr1[ BYTE_4 + OFFSET_2_BYTES ];
                 ptr2[BYTE_3] = ptr1[ BYTE_5 + OFFSET_2_BYTES ];
                 // coarse time
                 ptr2 = (unsigned char*) &ring_node_swf_extracted->coarseTime;
                 ptr2[BYTE_0] = ptr1[ BYTE_0 + OFFSET_2_BYTES ];
                 ptr2[BYTE_1] = ptr1[ BYTE_1 + OFFSET_2_BYTES ];
                 ptr2[BYTE_2] = ptr1[ BYTE_2 + OFFSET_2_BYTES ];
                 ptr2[BYTE_3] = ptr1[ BYTE_3 + OFFSET_2_BYTES ];
                 // re set the synchronization bit
                 timeCharPtr = (unsigned char*) &ring_node_to_send->coarseTime;
                 ptr2[0] = ptr2[0] | (timeCharPtr[0] & SYNC_BIT); // [1000 0000]
                 if ( (nbSamplesPart1_asLong > NB_SAMPLES_PER_SNAPSHOT) | (nbSamplesPart1_asLong < 0) )
                 {
                     nbSamplesPart1_asLong = 0;
                 }
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     swf_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) ];
                 }
                 // copy the part 2 of the snapshot in the extracted buffer
                 ring_node_to_send = ring_node_to_send->next;
                 for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                 {
                     swf_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ (i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) ];
                 }
             }
             double computeCorrection( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTime;
                 unsigned long long int centerTime;
                 unsigned long long int previousTick;
                 unsigned long long int nextTick;
                 unsigned long long int deltaPreviousTick;
                 unsigned long long int deltaNextTick;
                 double deltaPrevious_ms;
                 double deltaNext_ms;
                 double correctionInF2;
                 correctionInF2 = 0; //set to default value (Don_Initialisation_P2)
                 // get acquisition time in fine time ticks
                 acquisitionTime = get_acquisition_time( timePtr );
                 // compute center time
                 centerTime = acquisitionTime + DELTAT_F0;    // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 previousTick = centerTime - (centerTime & INT16_ALL_F);
                 nextTick = previousTick + TICKS_PER_S;
                 deltaPreviousTick   = centerTime - previousTick;
                 deltaNextTick       = nextTick - centerTime;
                 deltaPrevious_ms    = (((double) deltaPreviousTick) / TICKS_PER_S) * MS_PER_S;
                 deltaNext_ms        = (((double) deltaNextTick)     / TICKS_PER_S) * MS_PER_S;
                 PRINTF2("    delta previous = %.3f ms, delta next = %.2f ms\n", deltaPrevious_ms, deltaNext_ms);
                 // which tick is the closest?
                 if (deltaPreviousTick > deltaNextTick)
                 {
                     // the snapshot center is just before the second => increase delta_snapshot
                     correctionInF2 = + (deltaNext_ms * FREQ_F2 / MS_PER_S );
                 }
                 else
                 {
                     // the snapshot center is just after the second => decrease delta_snapshot
                     correctionInF2 = - (deltaPrevious_ms * FREQ_F2 / MS_PER_S );
                 }
                 PRINTF1("    correctionInF2 = %.2f\n", correctionInF2);
                 return correctionInF2;
             }
             void applyCorrection( double correction )
             {
                 int correctionInt;
                 correctionInt = 0;
                 if (correction >= 0.)
                 {
                     if ( (ONE_TICK_CORR_INTERVAL_0_MIN < correction) && (correction < ONE_TICK_CORR_INTERVAL_0_MAX) )
                     {
                         correctionInt = ONE_TICK_CORR;
                     }
                     else
                     {
                         correctionInt = CORR_MULT * floor(correction);
                     }
                 }
                 else
                 {
                     if ( (ONE_TICK_CORR_INTERVAL_1_MIN < correction) && (correction < ONE_TICK_CORR_INTERVAL_1_MAX) )
                     {
                         correctionInt = -ONE_TICK_CORR;
                     }
                     else
                     {
                         correctionInt =  CORR_MULT * ceil(correction);
                     }
                 }
                 waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot + correctionInt;
             }
             void snapshot_resynchronization( unsigned char *timePtr )
             {
                 /** This function compute a correction to apply on delta_snapshot.
                  *
                  *
                  * @param timePtr is a pointer to the acquisition time of the snapshot being considered.
                  *
                  * @return void
                  *
                  */
                 static double correction    = INIT_FLOAT;
                 static resynchro_state state = MEASURE;
                 static unsigned int nbSnapshots = 0;
                 int correctionInt;
                 correctionInt = 0;
                 switch (state)
                 {
                 case MEASURE:
                     // ********
                     PRINTF1("MEASURE === %d\n", nbSnapshots);
                     state = CORRECTION;
                     correction = computeCorrection( timePtr );
                     PRINTF1("MEASURE === correction = %.2f\n", correction );
                     applyCorrection( correction );
                     PRINTF1("MEASURE === delta_snapshot = %d\n", waveform_picker_regs->delta_snapshot);
                     //****
                     break;
                 case CORRECTION:
                     //************
                     PRINTF1("CORRECTION === %d\n", nbSnapshots);
                     state = MEASURE;
                     computeCorrection( timePtr );
                     set_wfp_delta_snapshot();
                     PRINTF1("CORRECTION === delta_snapshot = %d\n", waveform_picker_regs->delta_snapshot);
                     //****
                     break;
                 default:
                     break;
                 }
                 nbSnapshots++;
             }
             //**************
             // wfp registers
             void reset_wfp_burst_enable( void )
             {
                 /** This function resets the waveform picker burst_enable register.
                  *
                  * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                  *
                  */
                 // [1000 000] burst f2, f1, f0     enable f3, f2, f1, f0
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable & RST_BITS_RUN_BURST_EN;
             }
             void reset_wfp_status( void )
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
                 waveform_picker_regs->status = INT16_ALL_F;
             }
             void reset_wfp_buffer_addresses( void )
             {
                 // F0
                 waveform_picker_regs->addr_data_f0_0 = current_ring_node_f0->previous->buffer_address;  // 0x08
                 waveform_picker_regs->addr_data_f0_1 = current_ring_node_f0->buffer_address;            // 0x0c
                 // F1
                 waveform_picker_regs->addr_data_f1_0 = current_ring_node_f1->previous->buffer_address;  // 0x10
                 waveform_picker_regs->addr_data_f1_1 = current_ring_node_f1->buffer_address;            // 0x14
                 // F2
                 waveform_picker_regs->addr_data_f2_0 = current_ring_node_f2->previous->buffer_address;  // 0x18
                 waveform_picker_regs->addr_data_f2_1 = current_ring_node_f2->buffer_address;            // 0x1c
                 // F3
                 waveform_picker_regs->addr_data_f3_0 = current_ring_node_f3->previous->buffer_address;  // 0x20
                 waveform_picker_regs->addr_data_f3_1 = current_ring_node_f3->buffer_address;            // 0x24
             }
             void reset_waveform_picker_regs( void )
             {
                 /** This function resets the waveform picker module registers.
                 *
                 * The registers affected by this function are located at the following offset addresses:
                 * - 0x00 data_shaping
                 * - 0x04 run_burst_enable
                 * - 0x08 addr_data_f0
                 * - 0x0C addr_data_f1
                 * - 0x10 addr_data_f2
                 * - 0x14 addr_data_f3
                 * - 0x18 status
                 * - 0x1C delta_snapshot
                 * - 0x20 delta_f0
                 * - 0x24 delta_f0_2
                 * - 0x28 delta_f1 (obsolet parameter)
                 * - 0x2c delta_f2
                 * - 0x30 nb_data_by_buffer
                 * - 0x34 nb_snapshot_param
                 * - 0x38 start_date
                 * - 0x3c nb_word_in_buffer
                 *
                 */
                 set_wfp_data_shaping();                                     // 0x00 *** R1 R0 SP1 SP0 BW
                 reset_wfp_burst_enable();                                   // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 reset_wfp_buffer_addresses();
                 reset_wfp_status();                                         // 0x18
                 set_wfp_delta_snapshot();   // 0x1c *** 300 s => 0x12bff
                 set_wfp_delta_f0_f0_2();    // 0x20, 0x24
                 //the parameter delta_f1 [0x28] is not used anymore
                 set_wfp_delta_f2();         // 0x2c
                 DEBUG_PRINTF1("delta_snapshot %x\n",    waveform_picker_regs->delta_snapshot);
                 DEBUG_PRINTF1("delta_f0 %x\n",          waveform_picker_regs->delta_f0);
                 DEBUG_PRINTF1("delta_f0_2 %x\n",        waveform_picker_regs->delta_f0_2);
                 DEBUG_PRINTF1("delta_f1 %x\n",          waveform_picker_regs->delta_f1);
                 DEBUG_PRINTF1("delta_f2 %x\n",          waveform_picker_regs->delta_f2);
                 // 2688 = 8 * 336
                 waveform_picker_regs->nb_data_by_buffer = DFLT_WFP_NB_DATA_BY_BUFFER;   // 0x30 *** 2688 - 1 => nb samples -1
                 waveform_picker_regs->snapshot_param    = DFLT_WFP_SNAPSHOT_PARAM;      // 0x34 *** 2688 => nb samples
                 waveform_picker_regs->start_date        = COARSE_TIME_MASK;
                 //
                 // coarse time and fine time registers are not initialized, they are volatile
                 //
                 waveform_picker_regs->buffer_length     = DFLT_WFP_BUFFER_LENGTH;   // buffer length in burst = 3 * 2688 / 16 = 504 = 0x1f8
             }
             void set_wfp_data_shaping( void )
             {
                 /** This function sets the data_shaping register of the waveform picker module.
                  *
                  * The value is read from one field of the parameter_dump_packet structure:\n
                  * bw_sp0_sp1_r0_r1
                  *
                  */
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.sy_lfr_common_parameters;
                 waveform_picker_regs->data_shaping =
                         ( (data_shaping & BIT_5) >> SHIFT_5_BITS )      // BW
                         + ( (data_shaping & BIT_4) >> SHIFT_3_BITS )    // SP0
                         + ( (data_shaping & BIT_3) >> 1 )               // SP1
                         + ( (data_shaping & BIT_2) << 1 )               // R0
                         + ( (data_shaping & BIT_1) << SHIFT_3_BITS )    // R1
                         + ( (data_shaping & BIT_0) << SHIFT_5_BITS );   // R2
             }
             void set_wfp_burst_enable_register( unsigned char mode )
             {
                 /** This function sets the waveform picker burst_enable register depending on the mode.
                  *
                  * @param mode is the LFR mode to launch.
                  *
                  * The burst bits shall be before the enable bits.
                  *
                  */
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case LFR_MODE_NORMAL:
                 case LFR_MODE_SBM1:
                 case LFR_MODE_SBM2:
                     waveform_picker_regs->run_burst_enable = RUN_BURST_ENABLE_SBM2;  // [0110 0000] enable f2 and f1 burst
                     waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | BITS_WFP_ENABLE_ALL; // [1111] enable f3 f2 f1 f0
                     break;
                 case LFR_MODE_BURST:
                     waveform_picker_regs->run_burst_enable = RUN_BURST_ENABLE_BURST;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | BITS_WFP_ENABLE_BURST; // [1100] enable f3 and f2
                     break;
                 default:
                     waveform_picker_regs->run_burst_enable = INIT_CHAR;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             }
             void set_wfp_delta_snapshot( void )
             {
                 /** This function sets the delta_snapshot register of the waveform picker module.
                  *
                  * The value is read from two (unsigned char) of the parameter_dump_packet structure:
                  * - sy_lfr_n_swf_p[0]
                  * - sy_lfr_n_swf_p[1]
                  *
                  */
                 unsigned int delta_snapshot;
                 unsigned int delta_snapshot_in_T2;
                 delta_snapshot = (parameter_dump_packet.sy_lfr_n_swf_p[0] * CONST_256)
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
                 delta_snapshot_in_T2 = delta_snapshot * FREQ_F2;
                 waveform_picker_regs->delta_snapshot = delta_snapshot_in_T2 - 1;    // max 4 bytes
             }
             void set_wfp_delta_f0_f0_2( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f0_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = (parameter_dump_packet.sy_lfr_n_swf_l[0] * CONST_256) + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f0_in_float = (nb_samples_per_snapshot / 2.) * ( (1. / FREQ_F2) - (1. / FREQ_F0) ) * FREQ_F2;
                 waveform_picker_regs->delta_f0      = delta_snapshot - floor( delta_f0_in_float );
                 waveform_picker_regs->delta_f0_2    = DFLT_WFP_DELTA_F0_2;
             }
             void set_wfp_delta_f1( void )
             {
                 /** Sets the value of the delta_f1 parameter
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * delta_f1 is not used, the snapshots are extracted from CWF_F1 waveforms.
                  *
                  */
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f1_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = (parameter_dump_packet.sy_lfr_n_swf_l[0] * CONST_256) + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f1_in_float = (nb_samples_per_snapshot / 2.) * ( (1. / FREQ_F2) - (1. / FREQ_F1) ) * FREQ_F2;
                 waveform_picker_regs->delta_f1 = delta_snapshot - floor( delta_f1_in_float );
             }
             void set_wfp_delta_f2( void )   // parameter not used, only delta_f0 and delta_f0_2 are used
             {
                 /** Sets the value of the delta_f2 parameter
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * delta_f2 is used only for the first snapshot generation, even when the snapshots are extracted from CWF_F2
                  * waveforms (see lpp_waveform_snapshot_controler.vhd for details).
                  *
                  */
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = (parameter_dump_packet.sy_lfr_n_swf_l[0] * CONST_256) + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 waveform_picker_regs->delta_f2 = delta_snapshot - (nb_samples_per_snapshot / 2) - 1;
             }
             //*****************
             // local parameters
             void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid )
             {
                 /** This function increments the parameter "sequence_cnt" depending on the sid passed in argument.
                  *
                  * @param packet_sequence_control is a pointer toward the parameter sequence_cnt to update.
                  * @param sid is the source identifier of the packet being updated.
                  *
                  * REQ-LFR-SRS-5240 / SSS-CP-FS-590
                  * The sequence counters shall wrap around from 2^14 to zero.
                  * The sequence counter shall start at zero at startup.
                  *
                  * REQ-LFR-SRS-5239 / SSS-CP-FS-580
                  * All TM_LFR_SCIENCE_ packets are sent to ground, i.e. destination id = 0
                  *
                  */
                 unsigned short *sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 rtems_mode initial_mode_set;
                 rtems_mode current_mode_set;
                 rtems_status_code status;
                 initial_mode_set = RTEMS_DEFAULT_MODES;
                 current_mode_set = RTEMS_DEFAULT_MODES;
                 sequence_cnt = NULL;
                 //******************************************
                 // CHANGE THE MODE OF THE CALLING RTEMS TASK
                 status =  rtems_task_mode( RTEMS_NO_PREEMPT, RTEMS_PREEMPT_MASK, &initial_mode_set );
                 if ( (sid == SID_NORM_SWF_F0)    || (sid == SID_NORM_SWF_F1) || (sid == SID_NORM_SWF_F2)
                      || (sid == SID_NORM_CWF_F3) || (sid == SID_NORM_CWF_LONG_F3)
                      || (sid == SID_BURST_CWF_F2)
                      || (sid == SID_NORM_ASM_F0) || (sid == SID_NORM_ASM_F1) || (sid == SID_NORM_ASM_F2)
                      || (sid == SID_NORM_BP1_F0) || (sid == SID_NORM_BP1_F1) || (sid == SID_NORM_BP1_F2)
                      || (sid == SID_NORM_BP2_F0) || (sid == SID_NORM_BP2_F1) || (sid == SID_NORM_BP2_F2)
                      || (sid == SID_BURST_BP1_F0) || (sid == SID_BURST_BP2_F0)
                      || (sid == SID_BURST_BP1_F1) || (sid == SID_BURST_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_NORMAL_BURST;
                 }
                 else if ( (sid ==SID_SBM1_CWF_F1) || (sid ==SID_SBM2_CWF_F2)
                           || (sid == SID_SBM1_BP1_F0) || (sid == SID_SBM1_BP2_F0)
                           || (sid == SID_SBM2_BP1_F0) || (sid == SID_SBM2_BP2_F0)
                           || (sid == SID_SBM2_BP1_F1) || (sid == SID_SBM2_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_SBM1_SBM2;
                 }
                 else
                 {
                     sequence_cnt = (unsigned short *) NULL;
                     PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
                 }
                 if (sequence_cnt != NULL)
                 {
                     segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << SHIFT_1_BYTE;
                     *sequence_cnt                = (*sequence_cnt) & SEQ_CNT_MASK;
                     new_packet_sequence_control = segmentation_grouping_flag | (*sequence_cnt) ;
                     packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> SHIFT_1_BYTE);
                     packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                     // increment the sequence counter
                     if ( *sequence_cnt < SEQ_CNT_MAX)
                     {
                         *sequence_cnt = *sequence_cnt + 1;
                     }
                     else
                     {
                         *sequence_cnt = 0;
                     }
                 }
                 //*************************************
                 // RESTORE THE MODE OF THE CALLING TASK
                 status =  rtems_task_mode( initial_mode_set, RTEMS_PREEMPT_MASK, &current_mode_set );
             }

testbenches/fsw_matrices_handling/functions.h +24 0

+            /*------------------------------------------------------------------------------
+            --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
+            --  This file is a part of the LFR FSW
+            --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
+            --
+            --  This program is free software; you can redistribute it and/or modify
+            --  it under the terms of the GNU General Public License as published by
+            --  the Free Software Foundation; either version 2 of the License, or
+            --  (at your option) any later version.
+            --
+            --  This program is distributed in the hope that it will be useful,
+            --  but WITHOUT ANY WARRANTY; without even the implied warranty of
+            --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+            --  GNU General Public License for more details.
+            --
+            --  You should have received a copy of the GNU General Public License
+            --  along with this program; if not, write to the Free Software
+            --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+            -------------------------------------------------------------------------------*/
+            /*--                  Author : Paul Leroy
+            --                   Contact : Alexis Jeandet
+            --                      Mail : alexis.jeandet@lpp.polytechnique.fr
+            ----------------------------------------------------------------------------*/
             #define NB_VALUES_PER_SM 25
             #define NB_BINS_PER_SM   128
             #define NB_BINS_COMPRESSED_SM_F0    11
             #define ASM_F0_INDICE_START         17      // 88 bins
             #define NB_BINS_TO_AVERAGE_ASM_F0   8
             void ASM_reorganize_and_divide( float *averaged_spec_mat, float *averaged_spec_mat_reorganized, float divider )
             {
                 int frequencyBin;
                 int asmComponent;
                 unsigned int offsetASM;
                 unsigned int offsetASMReorganized;
                 // BUILD DATA
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < NB_BINS_PER_SM; frequencyBin++ )
                     {
                         offsetASMReorganized =
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetASM            =
                                 asmComponent * NB_BINS_PER_SM
                                 + frequencyBin;
                         averaged_spec_mat_reorganized[offsetASMReorganized  ] =
                                 averaged_spec_mat[ offsetASM ] / divider;
                     }
                 }
             }
             void ASM_compress_reorganize_and_divide(float *averaged_spec_mat, float *compressed_spec_mat , float divider,
                                              unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage, unsigned char ASMIndexStart )
             {
                 int frequencyBin;
                 int asmComponent;
                 int offsetASM;
                 int offsetCompressed;
                 int k;
                 // BUILD DATA
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < nbBinsCompressedMatrix; frequencyBin++ )
                     {
                         offsetCompressed =  // NO TIME OFFSET
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetASM =         // NO TIME OFFSET
                                 asmComponent * NB_BINS_PER_SM
                                 + ASMIndexStart
                                 + frequencyBin * nbBinsToAverage;
                         compressed_spec_mat[ offsetCompressed ] = 0;
                         for ( k = 0; k < nbBinsToAverage; k++ )
                         {
                             compressed_spec_mat[offsetCompressed ] =
                                     ( compressed_spec_mat[ offsetCompressed ]
                                     + averaged_spec_mat[ offsetASM + k ] );
                         }
                         compressed_spec_mat[ offsetCompressed ] =
                                 compressed_spec_mat[ offsetCompressed ] / (divider * nbBinsToAverage);
                     }
                 }
             }
             void extractReImVectors( float *inputASM, float *outputASM, unsigned int asmComponent )
             {
                 unsigned int i;
                 float re;
                 float im;
                 for (i=0; i<NB_BINS_PER_SM; i++){
                     re = inputASM[ (asmComponent*NB_BINS_PER_SM) + i * 2    ];
                     im = inputASM[ (asmComponent*NB_BINS_PER_SM) + i * 2 + 1];
                     outputASM[ (asmComponent   *NB_BINS_PER_SM)  +  i] = re;
                     outputASM[ (asmComponent+1)*NB_BINS_PER_SM   +  i] = im;
                 }
             }
             void ASM_patch( float *inputASM, float *outputASM )
             {
                 extractReImVectors( inputASM, outputASM, 1);    // b1b2
                 extractReImVectors( inputASM, outputASM, 3 );   // b1b3
                 extractReImVectors( inputASM, outputASM, 5 );   // b1e1
                 extractReImVectors( inputASM, outputASM, 7 );   // b1e2
                 extractReImVectors( inputASM, outputASM, 10 );  // b2b3
                 extractReImVectors( inputASM, outputASM, 12 );  // b2e1
                 extractReImVectors( inputASM, outputASM, 14 );  // b2e2
                 extractReImVectors( inputASM, outputASM, 17 );  // b3e1
                 extractReImVectors( inputASM, outputASM, 19 );  // b3e2
                 extractReImVectors( inputASM, outputASM, 22 );  // e1e2
             }

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