HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r392:75028d90a6e7

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r392:75028d90a6e7

.hgtags created 644 +4 0

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	1	3236b2a1a6a04bc11754d3f995873876b5046183 3.2.0.17
	2	ad411bb94578a052d1b4aa6b4c8a769fe2711072 3.2.0.18
	3	a9b894b0ab6a8fa48f50ce3dd7200406b83e2a62 3.2.0.19
	4	bd1252670981361939ed2a1c3febc94247019956 3.2.0.20

libgcov/CMakeLists.txt created 644 +17 0

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	1	cmake_minimum_required(VERSION 3.6)
	2	project(libgcov C)
	3	include(sparc-rtems)
	4	include(cppcheck)
	5
	6	set(LIB_GCOV_SOURCES
	7	gcov-io.c
	8	gcov-io.h
	9	gcov-iov.h
	10	libgcov.c
	11	)
	12
	13	add_library(gcov STATIC ${LIB_GCOV_SOURCES})
	14
	15	add_custom_target(gcovr
	16	COMMAND gcovr --exclude='.gcov.' --gcov-executable=${rtems_dir}/bin/sparc-rtems-gcov --object-directory ${CMAKE_BINARY_DIR} -r ${CMAKE_SOURCE_DIR} --html --html-details -o ${CMAKE_CURRENT_BINARY_DIR}/gcov.html && xdg-open ${CMAKE_CURRENT_BINARY_DIR}/gcov.html
	17	)

libgcov/build_gcov_files.py created 644 +41 0

@@ -0,0 +1,41
	1	#!/usr/bin/env python3
	2
	3	__author__ = "Alexis Jeandet"
	4	__copyright__ = "Copyright 2018, Laboratory of Plasma Physics"
	5	__credits__ = []
	6	__license__ = "GPLv2"
	7	__version__ = "1.0.0"
	8	__maintainer__ = "Alexis Jeandet"
	9	__email__ = "alexis.jeandet@member.fsf.org"
	10	__status__ = "Development"
	11
	12	import time
	13	import sys
	14	import os
	15	import serial
	16	import argparse
	17	from datetime import datetime
	18
	19	parser = argparse.ArgumentParser()
	20	parser.add_argument("-f", "--gcov-file", help="Gcov output file generated by record_lfr_console.py")
	21	args = parser.parse_args()
	22
	23
	24
	25	def main():
	26	with open(args.gcov_file,'r') as gcov:
	27	files = []
	28	for line in gcov.readlines():
	29	head,dest_file,data = line.split(',')
	30	if dest_file not in files:
	31	files.append(dest_file)
	32	if head == '_GCOV_':
	33	print(f"Writing {dest_file}\n")
	34	with open(dest_file,'wb') as gcda_file:
	35	gcda_file.write(bytes([int(''.join(value),16) for value in zip(data[::2],data[1::2]) ]))
	36	else:
	37	raise
	38
	39
	40	if __name__ == "__main__":
	41	main()

libgcov/gcov-io.c created 644 +488 0

@@ -0,0 +1,488
	1	/* Test for GCC >= 3.4.4 && <= 4.4.6 */
	2	//#if ( ( __GNUC__ > 3 ) \|\| \
	3	// ( __GNUC__ == 3 && __GNUC_MINOR__ > 4 )\|\| \
	4	// ( __GNUC__ == 3 && __GNUC_MINOR__ == 4 && __GNUC_PATCHLEVEL__ >= 4 ) ) && \
	5	// ( ( __GNUC__ < 4 ) \|\| \
	6	// ( __GNUC__ == 4 && __GNUC_MINOR__ < 4 )\|\| \
	7	// ( __GNUC__ == 4 && __GNUC_MINOR__ == 4 && __GNUC_PATCHLEVEL__ <= 6 ) )
	8	/*
	9	* =====================================================================================
	10	*
	11	* Filename: gcov-io.c
	12	*
	13	* Description: This is the I/O file for embedded systems
	14	*
	15	* Version: 1.0
	16	* Created: 03/04/08 09:51:59
	17	* Revision: none
	18	* Compiler: gcc
	19	*
	20	* Author: Aitor Viana Sanchez (avs), aitor.viana.sanchez@esa.int
	21	* Company: European Space Agency (ESA-ESTEC)
	22	*
	23	* =====================================================================================
	24	*/
	25
	26	/* File format for coverage information
	27	Copyright (C) 1996, 1997, 1998, 2000, 2002,
	28	2003 Free Software Foundation, Inc.
	29	Contributed by Bob Manson <manson@cygnus.com>.
	30	Completely remangled by Nathan Sidwell <nathan@codesourcery.com>.
	31
	32	This file is part of GCC.
	33
	34	GCC is free software; you can redistribute it and/or modify it under
	35	the terms of the GNU General Public License as published by the Free
	36	Software Foundation; either version 2, or (at your option) any later
	37	version.
	38
	39	GCC is distributed in the hope that it will be useful, but WITHOUT ANY
	40	WARRANTY; without even the implied warranty of MERCHANTABILITY or
	41	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
	42	for more details.
	43
	44	You should have received a copy of the GNU General Public License
	45	along with GCC; see the file COPYING. If not, write to the Free
	46	Software Foundation, 59 Temple Place - Suite 330, Boston, MA
	47	02111-1307, USA. */
	48
	49	#include <stdio.h>
	50	#include <stdlib.h> /* for atexit() */
	51	#include <string.h>
	52	#include "gcov-io.h"
	53
	54	/* Routines declared in gcov-io.h. This file should be #included by
	55	another source file, after having #included gcov-io.h. */
	56
	57
	58	/* This function shall be defined somewhere else */
	59	//int send_data(unsigned char * buffer, unsigned int size);
	60
	61	/*-----------------------------------------------------------------------------
	62	* PRIVATE INTERFACE
	63	-----------------------------------------------------------------------------/
	64
	65	static void gcov_write_block (unsigned);
	66	static gcov_unsigned_t *gcov_write_words (unsigned);
	67	GCOV_LINKAGE int gcov_send (void);
	68	GCOV_LINKAGE int gcov_close(void);
	69
	70	extern struct gcov_info * gcov_list;
	71	extern gcov_unsigned_t gcov_crc32;
	72
	73	int dev_id = 0;
	74
	75	/*
	76	* === FUNCTION ======================================================================
	77	* Name: from_file
	78	* Description: This function just return the given parameter
	79	* =====================================================================================
	80	*/
	81	static inline gcov_unsigned_t from_file (gcov_unsigned_t value)
	82	{
	83	return value;
	84	}
	85
	86	/*
	87	* === FUNCTION ======================================================================
	88	* Name: gcov_version
	89	* Description: This function returns TRUE (1) if the gcov version is the
	90	* version expected. The function returns FALSE (0) in any other case.
	91	* =====================================================================================
	92	*/
	93	static int gcov_version (struct gcov_info *ptr, gcov_unsigned_t version)
	94	{
	95	if (version != GCOV_VERSION)
	96	{
	97	char v[4], e[4];
	98
	99	GCOV_UNSIGNED2STRING (v, version);
	100	GCOV_UNSIGNED2STRING (e, GCOV_VERSION);
	101
	102	printf ("profiling:%s:Version mismatch - expected %.4s got %.4s\n",
	103	ptr->filename, e, v);
	104
	105	return 0;
	106	}
	107	return 1;
	108	}
	109
	110
	111	/*-----------------------------------------------------------------------------
	112	* PUBLIC INTERFACE
	113	-----------------------------------------------------------------------------/
	114
	115	/* Dump the coverage counts. We merge with existing counts when
	116	possible, to avoid growing the .da files ad infinitum. We use this
	117	program's checksum to make sure we only accumulate whole program
	118	statistics to the correct summary. An object file might be embedded
	119	in two separate programs, and we must keep the two program
	120	summaries separate. */
	121
	122	/*
	123	* === FUNCTION ======================================================================
	124	* Name: gcov_exit
	125	* Description: This function dumps the coverage couns. The merging with
	126	* existing counts is not done in embedded systems.
	127	* =====================================================================================
	128	*/
	129	void gcov_exit (void)
	130	{
	131	struct gcov_info *gi_ptr;
	132	struct gcov_summary this_program;
	133	struct gcov_summary all;
	134	struct gcov_ctr_summary *cs_ptr;
	135	const struct gcov_ctr_info *ci_ptr;
	136	unsigned t_ix;
	137	gcov_unsigned_t c_num;
	138	unsigned long coreId = 0;
	139
	140	/* retrieve the id of the CPU the program is running on */
	141	#ifdef LEON3
	142	__asm__ __volatile__("rd %%asr17,%0\n\t"
	143	"srl %0,28,%0" :
	144	"=&r" (coreId) : );
	145	#endif
	146
	147	printf("_GCOVEXIT_BEGIN_,core%d\n", coreId); /* see also _GCOVEXIT_END_ */
	148
	149	if(gcov_list == (void*)0x0)
	150	printf("%s: gcov_list == NULL\n", __func__);
	151
	152	memset (&all, 0, sizeof (all));
	153	/* Find the totals for this execution. */
	154	memset (&this_program, 0, sizeof (this_program));
	155	for (gi_ptr = gcov_list; gi_ptr; gi_ptr = gi_ptr->next)
	156	{
	157
	158	ci_ptr = gi_ptr->counts;
	159	for (t_ix = 0; t_ix < GCOV_COUNTERS_SUMMABLE; t_ix++)
	160	{
	161	if (!((1 << t_ix) & gi_ptr->ctr_mask))
	162	continue;
	163
	164	cs_ptr = &this_program.ctrs[t_ix];
	165	cs_ptr->num += ci_ptr->num;
	166	for (c_num = 0; c_num < ci_ptr->num; c_num++)
	167	{
	168	cs_ptr->sum_all += ci_ptr->values[c_num];
	169	if (cs_ptr->run_max < ci_ptr->values[c_num])
	170	cs_ptr->run_max = ci_ptr->values[c_num];
	171	}
	172	ci_ptr++;
	173	}
	174	}
	175	/* Now merge each file. */
	176	for (gi_ptr = gcov_list; gi_ptr; gi_ptr = gi_ptr->next)
	177	{
	178
	179	struct gcov_summary program;
	180	gcov_type *values[GCOV_COUNTERS];
	181	const struct gcov_fn_info *fi_ptr;
	182	unsigned fi_stride;
	183	unsigned c_ix, f_ix, n_counts;
	184
	185	c_ix = 0;
	186	for (t_ix = 0; t_ix < GCOV_COUNTERS; t_ix++)
	187	if ((1 << t_ix) & gi_ptr->ctr_mask)
	188	{
	189	values[c_ix] = gi_ptr->counts[c_ix].values;
	190	c_ix++;
	191	}
	192
	193	/* Calculate the function_info stride. This depends on the
	194	number of counter types being measured. */
	195	fi_stride = sizeof (struct gcov_fn_info) + c_ix * sizeof (unsigned);
	196	if (__alignof__ (struct gcov_fn_info) > sizeof (unsigned))
	197	{
	198	fi_stride += __alignof__ (struct gcov_fn_info) - 1;
	199	fi_stride &= ~(__alignof__ (struct gcov_fn_info) - 1);
	200	}
	201
	202	if (!gcov_open (gi_ptr->filename))
	203	{
	204	printf ("profiling:%s:Cannot open\n", gi_ptr->filename);
	205	continue;
	206	}
	207
	208	program.checksum = gcov_crc32;
	209
	210	/* Write out the data. */
	211	gcov_write_tag_length (GCOV_DATA_MAGIC, GCOV_VERSION);
	212	gcov_write_unsigned (gi_ptr->stamp);
	213
	214	/* Write execution counts for each function. */
	215	for (f_ix = 0; f_ix < gi_ptr->n_functions; f_ix++)
	216	{
	217	fi_ptr = (const struct gcov_fn_info *)
	218	((const char ) gi_ptr->functions + f_ix fi_stride);
	219
	220	/* Announce function. */
	221	gcov_write_tag_length (GCOV_TAG_FUNCTION, GCOV_TAG_FUNCTION_LENGTH);
	222	gcov_write_unsigned (fi_ptr->ident);
	223	gcov_write_unsigned (fi_ptr->checksum);
	224
	225	c_ix = 0;
	226	for (t_ix = 0; t_ix < GCOV_COUNTERS; t_ix++)
	227	{
	228	gcov_type *c_ptr;
	229
	230	if (!((1 << t_ix) & gi_ptr->ctr_mask))
	231	continue;
	232
	233	n_counts = fi_ptr->n_ctrs[c_ix];
	234
	235	gcov_write_tag_length (GCOV_TAG_FOR_COUNTER (t_ix),
	236	GCOV_TAG_COUNTER_LENGTH (n_counts));
	237	c_ptr = values[c_ix];
	238	while (n_counts--)
	239	gcov_write_counter (*c_ptr++);
	240
	241	values[c_ix] = c_ptr;
	242	c_ix++;
	243	}
	244	}
	245
	246	gcov_send();
	247	gcov_close();
	248
	249	}
	250
	251	printf("_GCOVEXIT_END_,core%d\n", coreId);
	252	}
	253
	254
	255	/* Called before fork or exec - write out profile information gathered so
	256	far and reset it to zero. This avoids duplication or loss of the
	257	profile information gathered so far. */
	258
	259	void
	260	__gcov_flush (void)
	261	{
	262	const struct gcov_info *gi_ptr;
	263
	264	gcov_exit ();
	265	for (gi_ptr = gcov_list; gi_ptr; gi_ptr = gi_ptr->next)
	266	{
	267	unsigned t_ix;
	268	const struct gcov_ctr_info *ci_ptr;
	269
	270	for (t_ix = 0, ci_ptr = gi_ptr->counts; t_ix != GCOV_COUNTERS; t_ix++)
	271	if ((1 << t_ix) & gi_ptr->ctr_mask)
	272	{
	273	memset (ci_ptr->values, 0, sizeof (gcov_type) * ci_ptr->num);
	274	ci_ptr++;
	275	}
	276	}
	277	}
	278
	279
	280
	281	/* Open a gcov file. NAME is the name of the file to open and MODE
	282	indicates whether a new file should be created, or an existing file
	283	opened for modification. If MODE is >= 0 an existing file will be
	284	opened, if possible, and if MODE is <= 0, a new file will be
	285	created. Use MODE=0 to attempt to reopen an existing file and then
	286	fall back on creating a new one. Return zero on failure, >0 on
	287	opening an existing file and <0 on creating a new one. */
	288	GCOV_LINKAGE int gcov_open(const char *name)
	289	{
	290	// gcov_var.start is cleared in the gcov_close function.
	291	// If this variable is not cleared...ERROR
	292	if( gcov_var.start != 0 )
	293	return 0;
	294
	295	// Clear everything
	296	gcov_var.start = 0;
	297	gcov_var.offset = gcov_var.length = 0;
	298	gcov_var.overread = -1u;
	299	gcov_var.error = 0;
	300
	301
	302	// copy the filename in the gcov_var structure
	303	strcpy(gcov_var.filename, name);
	304
	305
	306	// return 1 means everything is OK
	307	return 1;
	308	}
	309
	310	/* Close the current gcov file. Flushes data to disk. Returns nonzero
	311	on failure or error flag set. */
	312
	313	GCOV_LINKAGE int gcov_send (void)
	314	{
	315	/printf("%s: file %s\n", __func__, gcov_var.filename);/
	316	if (gcov_var.offset)
	317	gcov_write_block (gcov_var.offset);
	318
	319	gcov_var.length = 0;
	320	return gcov_var.error;
	321	}
	322
	323	GCOV_LINKAGE int gcov_close(void)
	324	{
	325	memset(gcov_var.filename, 0, strlen(gcov_var.filename));
	326
	327	// Clear the start variable because will be tested in the gcov_open
	328	// function
	329	gcov_var.start = 0;
	330
	331	// Return the error, not sure whether the error is modifed.
	332	return gcov_var.error;
	333	}
	334
	335
	336	static void gcov_write_block (unsigned size) {
	337	unsigned char buffer = (unsigned char) gcov_var.buffer;
	338	unsigned int i;
	339
	340	printf("_GCOV_,%s,", gcov_var.filename);
	341	/* to speed up the printing process, we display bytes 4 by 4 */
	342	for(i = 0; i < size; i++) {
	343	printf("%02X%02X%02X%02X", (unsigned int)(buffer[0]),
	344	(unsigned int)(buffer[1]),
	345	(unsigned int)(buffer[2]),
	346	(unsigned int)(buffer[3]));
	347
	348	buffer += sizeof(gcov_unsigned_t);
	349	}
	350	printf("\n");
	351
	352	gcov_var.start += size;
	353	gcov_var.offset -= size;
	354	}
	355
	356	/* Allocate space to write BYTES bytes to the gcov file. Return a
	357	pointer to those bytes, or NULL on failure. */
	358
	359	static gcov_unsigned_t *gcov_write_words (unsigned words) {
	360	gcov_unsigned_t *result;
	361
	362	GCOV_CHECK_WRITING ();
	363	if (gcov_var.offset >= GCOV_BLOCK_SIZE)
	364	{
	365	gcov_write_block (GCOV_BLOCK_SIZE);
	366	if (gcov_var.offset)
	367	{
	368	GCOV_CHECK (gcov_var.offset == 1);
	369	memcpy (gcov_var.buffer, gcov_var.buffer + GCOV_BLOCK_SIZE, 4);
	370	}
	371	}
	372	result = &gcov_var.buffer[gcov_var.offset];
	373	gcov_var.offset += words;
	374
	375	return result;
	376	}
	377
	378	/* Write unsigned VALUE to coverage file. Sets error flag
	379	appropriately. */
	380
	381	GCOV_LINKAGE void
	382	gcov_write_unsigned (gcov_unsigned_t value)
	383	{
	384	gcov_unsigned_t *buffer = gcov_write_words (1);
	385
	386	buffer[0] = value;
	387	}
	388
	389	/* Write counter VALUE to coverage file. Sets error flag
	390	appropriately. */
	391
	392	GCOV_LINKAGE void
	393	gcov_write_counter (gcov_type value)
	394	{
	395	gcov_unsigned_t *buffer = gcov_write_words (2);
	396
	397	buffer[0] = (gcov_unsigned_t) value;
	398	if (sizeof (value) > sizeof (gcov_unsigned_t))
	399	buffer[1] = (gcov_unsigned_t) (value >> 32);
	400	else
	401	buffer[1] = 0;
	402
	403	}
	404
	405	/* Write a tag TAG and length LENGTH. */
	406
	407	GCOV_LINKAGE void
	408	gcov_write_tag_length (gcov_unsigned_t tag, gcov_unsigned_t length)
	409	{
	410	gcov_unsigned_t *buffer = gcov_write_words (2);
	411
	412	buffer[0] = tag;
	413	buffer[1] = length;
	414	}
	415
	416	/* Write a summary structure to the gcov file. Return nonzero on
	417	overflow. */
	418
	419	GCOV_LINKAGE void
	420	gcov_write_summary (gcov_unsigned_t tag, const struct gcov_summary *summary)
	421	{
	422	unsigned ix;
	423	const struct gcov_ctr_summary *csum;
	424
	425	gcov_write_tag_length (tag, GCOV_TAG_SUMMARY_LENGTH);
	426	gcov_write_unsigned (summary->checksum);
	427	for (csum = summary->ctrs, ix = GCOV_COUNTERS_SUMMABLE; ix--; csum++)
	428	{
	429	gcov_write_unsigned (csum->num);
	430	gcov_write_unsigned (csum->runs);
	431	gcov_write_counter (csum->sum_all);
	432	gcov_write_counter (csum->run_max);
	433	gcov_write_counter (csum->sum_max);
	434	}
	435	}
	436
	437	GCOV_LINKAGE gcov_type
	438	gcov_read_counter (void)
	439	{
	440	return 0;
	441	}
	442
	443	/* Add a new object file onto the bb chain. Invoked automatically
	444	when running an object file's global ctors. */
	445
	446	void
	447	__gcov_init (struct gcov_info *info)
	448	{
	449	if (!info->version)
	450	return;
	451	if (gcov_version (info, info->version))
	452	{
	453	const char *ptr = info->filename;
	454	gcov_unsigned_t crc32 = gcov_crc32;
	455
	456	/* Added by LESIA*/
	457	printf("Covered file: %s\n", info->filename);
	458	/* End of Added by LESIA*/
	459
	460	do
	461	{
	462	unsigned ix;
	463	gcov_unsigned_t value = *ptr << 24;
	464
	465	for (ix = 8; ix--; value <<= 1)
	466	{
	467	gcov_unsigned_t feedback;
	468
	469	feedback = (value ^ crc32) & 0x80000000 ? 0x04c11db7 : 0;
	470	crc32 <<= 1;
	471	crc32 ^= feedback;
	472	}
	473	}
	474	while (*ptr++);
	475
	476	gcov_crc32 = crc32;
	477
	478	if (!gcov_list)
	479	atexit (gcov_exit);
	480
	481	info->next = gcov_list;
	482	gcov_list = info;
	483	}
	484	else
	485	printf("%s: Version mismatch\n", "WARNING");
	486	info->version = 0;
	487	}
	488	//#endif /* __GNUC__ __GNUC_MINOR__ __GNUC_PATCHLEVEL__ */

libgcov/gcov-io.h created 644 +485 0

@@ -0,0 +1,485
	1	/* Test for GCC >= 3.4.4 && <= 4.4.6 */
	2	//#if ( ( __GNUC__ > 3 ) \|\| \
	3	// ( __GNUC__ == 3 && __GNUC_MINOR__ > 4 )\|\| \
	4	// ( __GNUC__ == 3 && __GNUC_MINOR__ == 4 && __GNUC_PATCHLEVEL__ >= 4 ) ) && \
	5	// ( ( __GNUC__ < 4 ) \|\| \
	6	// ( __GNUC__ == 4 && __GNUC_MINOR__ < 4 )\|\| \
	7	// ( __GNUC__ == 4 && __GNUC_MINOR__ == 4 && __GNUC_PATCHLEVEL__ <= 6 ) )
	8	//#include <stdlib.h>
	9	//#include <stdio.h>
	10	/* File format for coverage information
	11	Copyright (C) 1996, 1997, 1998, 2000, 2002,
	12	2003, 2004 Free Software Foundation, Inc.
	13	Contributed by Bob Manson <manson@cygnus.com>.
	14	Completely remangled by Nathan Sidwell <nathan@codesourcery.com>.
	15
	16	This file is part of GCC.
	17
	18	GCC is free software; you can redistribute it and/or modify it under
	19	the terms of the GNU General Public License as published by the Free
	20	Software Foundation; either version 2, or (at your option) any later
	21	version.
	22
	23	GCC is distributed in the hope that it will be useful, but WITHOUT ANY
	24	WARRANTY; without even the implied warranty of MERCHANTABILITY or
	25	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
	26	for more details.
	27
	28	You should have received a copy of the GNU General Public License
	29	along with GCC; see the file COPYING. If not, write to the Free
	30	Software Foundation, 59 Temple Place - Suite 330, Boston, MA
	31	02111-1307, USA. */
	32
	33	/* As a special exception, if you link this library with other files,
	34	some of which are compiled with GCC, to produce an executable,
	35	this library does not by itself cause the resulting executable
	36	to be covered by the GNU General Public License.
	37	This exception does not however invalidate any other reasons why
	38	the executable file might be covered by the GNU General Public License. */
	39
	40	/* Coverage information is held in two files. A notes file, which is
	41	generated by the compiler, and a data file, which is generated
	42	by the program under test. Both files use a similar structure. We
	43	do not attempt to make these files backwards compatible with
	44	previous versions, as you only need coverage information when
	45	developing a program. We do hold version information, so that
	46	mismatches can be detected, and we use a format that allows tools
	47	to skip information they do not understand or are not interested
	48	in.
	49
	50	Numbers are recorded in the 32 bit unsigned binary form of the
	51	endianness of the machine generating the file. 64 bit numbers are
	52	stored as two 32 bit numbers, the low part first. Strings are
	53	padded with 1 to 4 NUL bytes, to bring the length up to a multiple
	54	of 4. The number of 4 bytes is stored, followed by the padded
	55	string. Zero length and NULL strings are simply stored as
	56	a length of zero (they have no trailing NUL or padding).
	57
	58	int32: byte3 byte2 byte1 byte0 \| byte0 byte1 byte2 byte3
	59	int64: int32:low int32:high
	60	string: int32:0 \| int32:length char* char:0 padding
	61	padding: \| char:0 \| char:0 char:0 \| char:0 char:0 char:0
	62	item: int32 \| int64 \| string
	63
	64	The basic format of the files is
	65
	66	file : int32:magic int32:version int32:stamp record*
	67
	68	The magic ident is different for the notes and the data files. The
	69	magic ident is used to determine the endianness of the file, when
	70	reading. The version is the same for both files and is derived
	71	from gcc's version number. The stamp value is used to synchronize
	72	note and data files and to synchronize merging within a data
	73	file. It need not be an absolute time stamp, merely a ticker that
	74	increments fast enough and cycles slow enough to distinguish
	75	different compile/run/compile cycles.
	76
	77	Although the ident and version are formally 32 bit numbers, they
	78	are derived from 4 character ASCII strings. The version number
	79	consists of the single character major version number, a two
	80	character minor version number (leading zero for versions less than
	81	10), and a single character indicating the status of the release.
	82	That will be 'e' experimental, 'p' prerelease and 'r' for release.
	83	Because, by good fortune, these are in alphabetical order, string
	84	collating can be used to compare version strings. Be aware that
	85	the 'e' designation will (naturally) be unstable and might be
	86	incompatible with itself. For gcc 3.4 experimental, it would be
	87	'304e' (0x33303465). When the major version reaches 10, the
	88	letters A-Z will be used. Assuming minor increments releases every
	89	6 months, we have to make a major increment every 50 years.
	90	Assuming major increments releases every 5 years, we're ok for the
	91	next 155 years -- good enough for me.
	92
	93	A record has a tag, length and variable amount of data.
	94
	95	record: header data
	96	header: int32:tag int32:length
	97	data: item*
	98
	99	Records are not nested, but there is a record hierarchy. Tag
	100	numbers reflect this hierarchy. Tags are unique across note and
	101	data files. Some record types have a varying amount of data. The
	102	LENGTH is the number of 4bytes that follow and is usually used to
	103	determine how much data. The tag value is split into 4 8-bit
	104	fields, one for each of four possible levels. The most significant
	105	is allocated first. Unused levels are zero. Active levels are
	106	odd-valued, so that the LSB of the level is one. A sub-level
	107	incorporates the values of its superlevels. This formatting allows
	108	you to determine the tag hierarchy, without understanding the tags
	109	themselves, and is similar to the standard section numbering used
	110	in technical documents. Level values [1..3f] are used for common
	111	tags, values [41..9f] for the notes file and [a1..ff] for the data
	112	file.
	113
	114	The basic block graph file contains the following records
	115	note: unit function-graph*
	116	unit: header int32:checksum string:source
	117	function-graph: announce_function basic_blocks {arcs \| lines}*
	118	announce_function: header int32:ident int32:checksum
	119	string:name string:source int32:lineno
	120	basic_block: header int32:flags*
	121	arcs: header int32:block_no arc*
	122	arc: int32:dest_block int32:flags
	123	lines: header int32:block_no line*
	124	int32:0 string:NULL
	125	line: int32:line_no \| int32:0 string:filename
	126
	127	The BASIC_BLOCK record holds per-bb flags. The number of blocks
	128	can be inferred from its data length. There is one ARCS record per
	129	basic block. The number of arcs from a bb is implicit from the
	130	data length. It enumerates the destination bb and per-arc flags.
	131	There is one LINES record per basic block, it enumerates the source
	132	lines which belong to that basic block. Source file names are
	133	introduced by a line number of 0, following lines are from the new
	134	source file. The initial source file for the function is NULL, but
	135	the current source file should be remembered from one LINES record
	136	to the next. The end of a block is indicated by an empty filename
	137	- this does not reset the current source file. Note there is no
	138	ordering of the ARCS and LINES records: they may be in any order,
	139	interleaved in any manner. The current filename follows the order
	140	the LINES records are stored in the file, not the ordering of the
	141	blocks they are for.
	142
	143	The data file contains the following records.
	144	data: {unit function-data* summary:object summary:program}
	145	unit: header int32:checksum
	146	function-data: announce_function arc_counts
	147	announce_function: header int32:ident int32:checksum
	148	arc_counts: header int64:count*
	149	summary: int32:checksum {count-summary}GCOV_COUNTERS
	150	count-summary: int32:num int32:runs int64:sum
	151	int64:max int64:sum_max
	152
	153	The ANNOUNCE_FUNCTION record is the same as that in the note file,
	154	but without the source location. The ARC_COUNTS gives the counter
	155	values for those arcs that are instrumented. The SUMMARY records
	156	give information about the whole object file and about the whole
	157	program. The checksum is used for whole program summaries, and
	158	disambiguates different programs which include the same
	159	instrumented object file. There may be several program summaries,
	160	each with a unique checksum. The object summary's checksum is zero.
	161	Note that the data file might contain information from several runs
	162	concatenated, or the data might be merged.
	163
	164	This file is included by both the compiler, gcov tools and the
	165	runtime support library libgcov. IN_LIBGCOV and IN_GCOV are used to
	166	distinguish which case is which. If IN_LIBGCOV is nonzero,
	167	libgcov is being built. If IN_GCOV is nonzero, the gcov tools are
	168	being built. Otherwise the compiler is being built. IN_GCOV may be
	169	positive or negative. If positive, we are compiling a tool that
	170	requires additional functions (see the code for knowledge of what
	171	those functions are). */
	172
	173	#ifndef GCC_GCOV_IO_H
	174	#define GCC_GCOV_IO_H
	175
	176	typedef unsigned int gcov_unsigned_t;
	177	typedef unsigned int gcov_position_t;
	178
	179	typedef unsigned long long gcov_type;
	180
	181	/* No tengo ni idea de que es el SETLKW, asi que de momento el target
	182	* no tiene de eso */
	183
	184	//#if defined (TARGET_HAS_F_SETLKW)
	185	//#define GCOV_LOCKED 1
	186	//#else
	187	#define GCOV_LOCKED 0
	188	//#endif
	189	//#endif
	190
	191
	192
	193	/* In gcov we want function linkage to be static. In the compiler we want
	194	it extern, so that they can be accessed from elsewhere. In libgcov we
	195	need these functions to be extern, so prefix them with __gcov. In
	196	libgcov they must also be hidden so that the instance in the executable
	197	is not also used in a DSO. */
	198
	199	#define gcov_var __gcov_var
	200	#define gcov_open __gcov_open
	201	#define gcov_close __gcov_close
	202	#define gcov_write_tag_length __gcov_write_tag_length
	203	#define gcov_position __gcov_position
	204	#define gcov_seek __gcov_seek
	205	#define gcov_rewrite __gcov_rewrite
	206	#define gcov_is_error __gcov_is_error
	207	#define gcov_is_eof __gcov_is_eof
	208	#define gcov_write_unsigned __gcov_write_unsigned
	209	#define gcov_write_counter __gcov_write_counter
	210	#define gcov_write_summary __gcov_write_summary
	211	#define gcov_read_unsigned __gcov_read_unsigned
	212	#define gcov_read_counter __gcov_read_counter
	213	#define gcov_read_summary __gcov_read_summary
	214
	215	/* Esto no tengo ni repajolera idea de para que vale */
	216
	217	/* Poison these, so they don't accidentally slip in. */
	218	//#pragma GCC poison gcov_write_string gcov_write_tag gcov_write_length
	219	//#pragma GCC poison gcov_read_string gcov_sync gcov_time gcov_magic
	220
	221	#ifdef HAVE_GAS_HIDDEN
	222	#define ATTRIBUTE_HIDDEN __attribute__ ((__visibility__ ("hidden")))
	223	#else
	224	#define ATTRIBUTE_HIDDEN
	225	#endif
	226
	227	#ifndef GCOV_LINKAGE
	228	#define GCOV_LINKAGE extern
	229	//#define GCOV_LINKAGE
	230	#endif
	231
	232	/* File suffixes. */
	233	#define GCOV_DATA_SUFFIX ".gcda"
	234	#define GCOV_NOTE_SUFFIX ".gcno"
	235
	236	/* File magic. Must not be palindromes. */
	237	#define GCOV_DATA_MAGIC ((gcov_unsigned_t)0x67636461) /* "gcda" */
	238	#define GCOV_NOTE_MAGIC ((gcov_unsigned_t)0x67636e6f) /* "gcno" */
	239
	240	/* gcov-iov.h is automatically generated by the makefile from
	241	version.c, it looks like
	242	#define GCOV_VERSION ((gcov_unsigned_t)0x89abcdef)
	243	*/
	244	#include "gcov-iov.h"
	245
	246	/* Convert a magic or version number to a 4 character string. */
	247	#define GCOV_UNSIGNED2STRING(ARRAY,VALUE) \
	248	((ARRAY)[0] = (char)((VALUE) >> 24), \
	249	(ARRAY)[1] = (char)((VALUE) >> 16), \
	250	(ARRAY)[2] = (char)((VALUE) >> 8), \
	251	(ARRAY)[3] = (char)((VALUE) >> 0))
	252
	253	/* The record tags. Values [1..3f] are for tags which may be in either
	254	file. Values [41..9f] for those in the note file and [a1..ff] for
	255	the data file. */
	256
	257	#define GCOV_TAG_FUNCTION ((gcov_unsigned_t)0x01000000)
	258	#define GCOV_TAG_FUNCTION_LENGTH (2)
	259	#define GCOV_TAG_BLOCKS ((gcov_unsigned_t)0x01410000)
	260	#define GCOV_TAG_BLOCKS_LENGTH(NUM) (NUM)
	261	#define GCOV_TAG_BLOCKS_NUM(LENGTH) (LENGTH)
	262	#define GCOV_TAG_ARCS ((gcov_unsigned_t)0x01430000)
	263	#define GCOV_TAG_ARCS_LENGTH(NUM) (1 + (NUM) * 2)
	264	#define GCOV_TAG_ARCS_NUM(LENGTH) (((LENGTH) - 1) / 2)
	265	#define GCOV_TAG_LINES ((gcov_unsigned_t)0x01450000)
	266	#define GCOV_TAG_COUNTER_BASE ((gcov_unsigned_t)0x01a10000)
	267	#define GCOV_TAG_COUNTER_LENGTH(NUM) ((NUM) * 2)
	268	#define GCOV_TAG_COUNTER_NUM(LENGTH) ((LENGTH) / 2)
	269	#define GCOV_TAG_OBJECT_SUMMARY ((gcov_unsigned_t)0xa1000000)
	270	#define GCOV_TAG_PROGRAM_SUMMARY ((gcov_unsigned_t)0xa3000000)
	271	#define GCOV_TAG_SUMMARY_LENGTH \
	272	(1 + GCOV_COUNTERS_SUMMABLE * (2 + 3 * 2))
	273
	274	/* Counters that are collected. */
	275	#define GCOV_COUNTER_ARCS 0 /* Arc transitions. */
	276	#define GCOV_COUNTERS_SUMMABLE 1 /* Counters which can be
	277	summaried. */
	278	#define GCOV_FIRST_VALUE_COUNTER 1 /* The first of counters used for value
	279	profiling. They must form a consecutive
	280	interval and their order must match
	281	the order of HIST_TYPEs in
	282	value-prof.h. */
	283	#define GCOV_COUNTER_V_INTERVAL 1 /* Histogram of value inside an interval. */
	284	#define GCOV_COUNTER_V_POW2 2 /* Histogram of exact power2 logarithm
	285	of a value. */
	286	#define GCOV_COUNTER_V_SINGLE 3 /* The most common value of expression. */
	287	#define GCOV_COUNTER_V_DELTA 4 /* The most common difference between
	288	consecutive values of expression. */
	289	#define GCOV_LAST_VALUE_COUNTER 4 /* The last of counters used for value
	290	profiling. */
	291	#define GCOV_COUNTERS 5
	292
	293	/* Number of counters used for value profiling. */
	294	#define GCOV_N_VALUE_COUNTERS \
	295	(GCOV_LAST_VALUE_COUNTER - GCOV_FIRST_VALUE_COUNTER + 1)
	296
	297	/* A list of human readable names of the counters */
	298	#define GCOV_COUNTER_NAMES {"arcs", "interval", "pow2", "single", "delta"}
	299
	300	/* Names of merge functions for counters. */
	301	#define GCOV_MERGE_FUNCTIONS {"__gcov_merge_add", \
	302	"__gcov_merge_add", \
	303	"__gcov_merge_add", \
	304	"__gcov_merge_single", \
	305	"__gcov_merge_delta"}
	306
	307	/* Convert a counter index to a tag. */
	308	#define GCOV_TAG_FOR_COUNTER(COUNT) \
	309	(GCOV_TAG_COUNTER_BASE + ((gcov_unsigned_t)(COUNT) << 17))
	310	/* Convert a tag to a counter. */
	311	#define GCOV_COUNTER_FOR_TAG(TAG) \
	312	((unsigned)(((TAG) - GCOV_TAG_COUNTER_BASE) >> 17))
	313	/* Check whether a tag is a counter tag. */
	314	#define GCOV_TAG_IS_COUNTER(TAG) \
	315	(!((TAG) & 0xFFFF) && GCOV_COUNTER_FOR_TAG (TAG) < GCOV_COUNTERS)
	316
	317	/* The tag level mask has 1's in the position of the inner levels, &
	318	the lsb of the current level, and zero on the current and outer
	319	levels. */
	320	#define GCOV_TAG_MASK(TAG) (((TAG) - 1) ^ (TAG))
	321
	322	/* Return nonzero if SUB is an immediate subtag of TAG. */
	323	#define GCOV_TAG_IS_SUBTAG(TAG,SUB) \
	324	(GCOV_TAG_MASK (TAG) >> 8 == GCOV_TAG_MASK (SUB) \
	325	&& !(((SUB) ^ (TAG)) & ~GCOV_TAG_MASK(TAG)))
	326
	327	/* Return nonzero if SUB is at a sublevel to TAG. */
	328	#define GCOV_TAG_IS_SUBLEVEL(TAG,SUB) \
	329	(GCOV_TAG_MASK (TAG) > GCOV_TAG_MASK (SUB))
	330
	331	/* Basic block flags. */
	332	#define GCOV_BLOCK_UNEXPECTED (1 << 1)
	333
	334	/* Arc flags. */
	335	#define GCOV_ARC_ON_TREE (1 << 0)
	336	#define GCOV_ARC_FAKE (1 << 1)
	337	#define GCOV_ARC_FALLTHROUGH (1 << 2)
	338
	339	/* Structured records. */
	340
	341	/* Cumulative counter data. */
	342	struct gcov_ctr_summary
	343	{
	344	gcov_unsigned_t num; /* number of counters. */
	345	gcov_unsigned_t runs; /* number of program runs */
	346	gcov_type sum_all; /* sum of all counters accumulated. */
	347	gcov_type run_max; /* maximum value on a single run. */
	348	gcov_type sum_max; /* sum of individual run max values. */
	349	};
	350
	351
	352	/* Object & program summary record. */
	353	struct gcov_summary
	354	{
	355	gcov_unsigned_t checksum; /* checksum of program */
	356	struct gcov_ctr_summary ctrs[GCOV_COUNTERS_SUMMABLE];
	357	};
	358
	359	/* Structures embedded in coveraged program. The structures generated
	360	by write_profile must match these. */
	361
	362	/* Information about a single function. This uses the trailing array
	363	idiom. The number of counters is determined from the counter_mask
	364	in gcov_info. We hold an array of function info, so have to
	365	explicitly calculate the correct array stride. */
	366	struct gcov_fn_info
	367	{
	368	gcov_unsigned_t ident; /* unique ident of function */
	369	gcov_unsigned_t checksum; /* function checksum */
	370	unsigned n_ctrs[0]; /* instrumented counters */
	371	};
	372
	373	/* Type of function used to merge counters. */
	374	typedef void (gcov_merge_fn) (gcov_type , gcov_unsigned_t);
	375
	376	/* Information about counters. */
	377	struct gcov_ctr_info
	378	{
	379	gcov_unsigned_t num; /* number of counters. */
	380	gcov_type values; / their values. */
	381	gcov_merge_fn merge; /* The function used to merge them. */
	382	};
	383
	384	/* Information about a single object file. */
	385	struct gcov_info
	386	{
	387	gcov_unsigned_t version; /* expected version number */
	388	struct gcov_info next; / link to next, used by libgcov */
	389
	390	gcov_unsigned_t stamp; /* uniquifying time stamp */
	391	const char filename; / output file name */
	392
	393	unsigned n_functions; /* number of functions */
	394	const struct gcov_fn_info functions; / table of functions */
	395
	396	unsigned ctr_mask; /* mask of counters instrumented. */
	397	struct gcov_ctr_info counts[0]; /* count data. The number of bits
	398	set in the ctr_mask field
	399	determines how big this array
	400	is. */
	401	};
	402
	403	/* Register a new object file module. */
	404	extern void __gcov_init (struct gcov_info *) ATTRIBUTE_HIDDEN;
	405
	406	/* Called before fork, to avoid double counting. */
	407	extern void __gcov_flush (void) ATTRIBUTE_HIDDEN;
	408
	409	/* The merge function that just sums the counters. */
	410	extern void __gcov_merge_add (gcov_type *, unsigned) ATTRIBUTE_HIDDEN;
	411
	412	/* The merge function to choose the most common value. */
	413	extern void __gcov_merge_single (gcov_type *, unsigned) ATTRIBUTE_HIDDEN;
	414
	415	/* The merge function to choose the most common difference between
	416	consecutive values. */
	417	extern void __gcov_merge_delta (gcov_type *, unsigned) ATTRIBUTE_HIDDEN;
	418
	419	/* Optimum number of gcov_unsigned_t's read from or written to disk. */
	420	// We limit GCOV_BLOCK_SIZE to 512 unsigned long because post processing with
	421	// DOS batch cannot handle command lines bigger than 8191 characters, knowing
	422	// that for each char, we print 4 characters (e.g "\x00")
	423	#define GCOV_BLOCK_SIZE (1 << 11)
	424	#define MAXFILENAME (1024)
	425
	426	GCOV_LINKAGE struct gcov_var
	427	{
	428	// FILE *file;
	429	char filename[MAXFILENAME];
	430	gcov_position_t start; /* Position of first byte of block */
	431	unsigned offset; /* Read/write position within the block. */
	432	unsigned length; /* Read limit in the block. */
	433	unsigned overread; /* Number of words overread. */
	434	int error; /* < 0 overflow, > 0 disk error. */
	435	/* Holds one block plus 4 bytes, thus all coverage reads & writes
	436	fit within this buffer and we always can transfer GCOV_BLOCK_SIZE
	437	to and from the disk. libgcov never backtracks and only writes 4
	438	or 8 byte objects. */
	439	gcov_unsigned_t buffer[GCOV_BLOCK_SIZE + 1];
	440	} gcov_var ATTRIBUTE_HIDDEN;
	441
	442	#if 1
	443	/* Functions for reading and writing gcov files. In libgcov you can
	444	open the file for reading then writing. Elsewhere you can open the
	445	file either for reading or for writing. When reading a file you may
	446	use the gcov_read_* functions, gcov_sync, gcov_position, &
	447	gcov_error. When writing a file you may use the gcov_write
	448	functions, gcov_seek & gcov_error. When a file is to be rewritten
	449	you use the functions for reading, then gcov_rewrite then the
	450	functions for writing. Your file may become corrupted if you break
	451	these invariants. */
	452	GCOV_LINKAGE int gcov_open (const char /name*/) ATTRIBUTE_HIDDEN;
	453	GCOV_LINKAGE int gcov_close (void) ATTRIBUTE_HIDDEN;
	454
	455	/* Available everywhere. */
	456	/* static gcov_position_t gcov_position (void);
	457	* static int gcov_is_error (void);
	458	* static int gcov_is_eof (void);
	459	*/
	460
	461	GCOV_LINKAGE gcov_unsigned_t gcov_read_unsigned (void) ATTRIBUTE_HIDDEN;
	462	GCOV_LINKAGE gcov_type gcov_read_counter (void) ATTRIBUTE_HIDDEN;
	463	GCOV_LINKAGE void gcov_read_summary (struct gcov_summary *) ATTRIBUTE_HIDDEN;
	464	#endif
	465	/* Available only in libgcov */
	466	GCOV_LINKAGE void gcov_write_counter (gcov_type) ATTRIBUTE_HIDDEN;
	467	GCOV_LINKAGE void gcov_write_tag_length (gcov_unsigned_t,
	468	gcov_unsigned_t) ATTRIBUTE_HIDDEN;
	469	GCOV_LINKAGE void gcov_write_summary (gcov_unsigned_t /tag/,
	470	const struct gcov_summary *) ATTRIBUTE_HIDDEN;
	471
	472	/* Available outside gcov */
	473	GCOV_LINKAGE void gcov_write_unsigned (gcov_unsigned_t) ATTRIBUTE_HIDDEN;
	474
	475	/* Make sure the library is used correctly. */
	476	#if ENABLE_CHECKING
	477	#define GCOV_CHECK(expr) ((expr) ? (void)0 : (void)abort ())
	478	#else
	479	#define GCOV_CHECK(expr)
	480	#endif
	481	#define GCOV_CHECK_READING() GCOV_CHECK(gcov_var.mode > 0)
	482	#define GCOV_CHECK_WRITING() GCOV_CHECK(gcov_var.mode < 0)
	483
	484	#endif /* GCC_GCOV_IO_H */
	485	//#endif /* __GNUC__ __GNUC_MINOR__ __GNUC_PATCHLEVEL__ */

libgcov/gcov-iov.h created 644 +13 0

@@ -0,0 +1,13
	1	/* Generated by the program `C:\home\obswteam\workspace\sparc-gcov-master\tools\version\gcov-iov.exe'
	2	from `4.4 (4 4) and ()'. /
	3	#if ( __GNUC__ == 3 && __GNUC_MINOR__ == 4 )
	4	#define GCOV_VERSION ((gcov_unsigned_t)0x3330342a) /* type 'gcov-iov 3.4 ""' */
	5	#endif /* __GNUC__ __GNUC_MINOR__ */
	6
	7	#if ( __GNUC__ == 4 && __GNUC_MINOR__ == 4 )
	8	#define GCOV_VERSION ((gcov_unsigned_t)0x3430342a) /* type 'gcov-iov 4.4 ""' */
	9	#endif /* __GNUC__ __GNUC_MINOR__ */
	10
	11	#if ( __GNUC__ > 4 )
	12	#define GCOV_VERSION ((gcov_unsigned_t)0x3430342a) /* type 'gcov-iov 4.4 ""' */
	13	#endif /* __GNUC__ __GNUC_MINOR__ */

libgcov/libgcov.c created 644 +134 0

@@ -0,0 +1,134
	1	/* Test for GCC >= 3.4.4 && <= 4.4.6 */
	2	/*#if ( ( __GNUC__ > 3 ) \|\| \
	3	( __GNUC__ == 3 && __GNUC_MINOR__ > 4 )\|\| \
	4	( __GNUC__ == 3 && __GNUC_MINOR__ == 4 && __GNUC_PATCHLEVEL__ >= 4 ) ) && \
	5	( ( __GNUC__ < 4 ) \|\| \
	6	( __GNUC__ == 4 && __GNUC_MINOR__ < 4 )\|\| \
	7	( __GNUC__ == 4 && __GNUC_MINOR__ == 4 && __GNUC_PATCHLEVEL__ <= 6 ) )
	8	*/
	9	/* Routines required for instrumenting a program. */
	10	/* Compile this one with gcc. */
	11	/* Copyright (C) 1989, 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999,
	12	2000, 2001, 2002, 2003 Free Software Foundation, Inc.
	13
	14	This file is part of GCC.
	15
	16	GCC is free software; you can redistribute it and/or modify it under
	17	the terms of the GNU General Public License as published by the Free
	18	Software Foundation; either version 2, or (at your option) any later
	19	version.
	20
	21	In addition to the permissions in the GNU General Public License, the
	22	Free Software Foundation gives you unlimited permission to link the
	23	compiled version of this file into combinations with other programs,
	24	and to distribute those combinations without any restriction coming
	25	from the use of this file. (The General Public License restrictions
	26	do apply in other respects; for example, they cover modification of
	27	the file, and distribution when not linked into a combine
	28	executable.)
	29
	30	GCC is distributed in the hope that it will be useful, but WITHOUT ANY
	31	WARRANTY; without even the implied warranty of MERCHANTABILITY or
	32	FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
	33	for more details.
	34
	35	You should have received a copy of the GNU General Public License
	36	along with GCC; see the file COPYING. If not, write to the Free
	37	Software Foundation, 59 Temple Place - Suite 330, Boston, MA
	38	02111-1307, USA. */
	39
	40	#define GCOV_LINKAGE /* nothing */
	41
	42	#include "gcov-io.h"
	43
	44	/* Chain of per-object gcov structures. */
	45	struct gcov_info *gcov_list;
	46
	47	/* A program checksum allows us to distinguish program data for an
	48	object file included in multiple programs. */
	49	gcov_unsigned_t gcov_crc32;
	50
	51	/* The profile merging function that just adds the counters. It is given
	52	an array COUNTERS of N_COUNTERS old counters and it reads the same number
	53	of counters from the gcov file. */
	54	void
	55	__gcov_merge_add (gcov_type *counters, unsigned n_counters)
	56	{
	57	for (; n_counters; counters++, n_counters--)
	58	*counters += gcov_read_counter ();
	59	}
	60	/* The profile merging function for choosing the most common value.
	61	It is given an array COUNTERS of N_COUNTERS old counters and it
	62	reads the same number of counters from the gcov file. The counters
	63	are split into 3-tuples where the members of the tuple have
	64	meanings:
	65
	66	-- the stored candidate on the most common value of the measured entity
	67	-- counter
	68	-- total number of evaluations of the value */
	69	void
	70	__gcov_merge_single (gcov_type *counters, unsigned n_counters)
	71	{
	72	unsigned i, n_measures;
	73	gcov_type value, counter, all;
	74
	75	GCOV_CHECK (!(n_counters % 3));
	76	n_measures = n_counters / 3;
	77	for (i = 0; i < n_measures; i++, counters += 3)
	78	{
	79	value = gcov_read_counter ();
	80	counter = gcov_read_counter ();
	81	all = gcov_read_counter ();
	82
	83	if (counters[0] == value)
	84	counters[1] += counter;
	85	else if (counter > counters[1])
	86	{
	87	counters[0] = value;
	88	counters[1] = counter - counters[1];
	89	}
	90	else
	91	counters[1] -= counter;
	92	counters[2] += all;
	93	}
	94	}
	95
	96	/* The profile merging function for choosing the most common
	97	difference between two consecutive evaluations of the value. It is
	98	given an array COUNTERS of N_COUNTERS old counters and it reads the
	99	same number of counters from the gcov file. The counters are split
	100	into 4-tuples where the members of the tuple have meanings:
	101
	102	-- the last value of the measured entity
	103	-- the stored candidate on the most common difference
	104	-- counter
	105	-- total number of evaluations of the value */
	106
	107	void
	108	__gcov_merge_delta (gcov_type *counters, unsigned n_counters)
	109	{
	110	unsigned i, n_measures;
	111	gcov_type last, value, counter, all;
	112
	113	GCOV_CHECK (!(n_counters % 4));
	114	n_measures = n_counters / 4;
	115	for (i = 0; i < n_measures; i++, counters += 4)
	116	{
	117	last = gcov_read_counter ();
	118	value = gcov_read_counter ();
	119	counter = gcov_read_counter ();
	120	all = gcov_read_counter ();
	121
	122	if (counters[1] == value)
	123	counters[2] += counter;
	124	else if (counter > counters[2])
	125	{
	126	counters[1] = value;
	127	counters[2] = counter - counters[2];
	128	}
	129	else
	130	counters[2] -= counter;
	131	counters[3] += all;
	132	}
	133	}
	134	//#endif /* __GNUC__ __GNUC_MINOR__ __GNUC_PATCHLEVEL__ */

libgcov/record_lfr_console.py created 644 +40 0

@@ -0,0 +1,40
	1	#!/usr/bin/env python3
	2
	3	__author__ = "Alexis Jeandet"
	4	__copyright__ = "Copyright 2018, Laboratory of Plasma Physics"
	5	__credits__ = []
	6	__license__ = "GPLv2"
	7	__version__ = "1.0.0"
	8	__maintainer__ = "Alexis Jeandet"
	9	__email__ = "alexis.jeandet@member.fsf.org"
	10	__status__ = "Development"
	11
	12	import time
	13	import sys
	14	import os
	15	import serial
	16	import argparse
	17	from datetime import datetime
	18
	19	parser = argparse.ArgumentParser()
	20	parser.add_argument("-p", "--port", help="Serial port")
	21	parser.add_argument("-s", "--speed", help="Baud rate")
	22	args = parser.parse_args()
	23
	24
	25
	26	def main():
	27	with open('gcov_out_'+str(datetime.now())+'.txt','w') as gcov:
	28	with open('console_'+str(datetime.now())+'.txt','w') as console:
	29	with serial.Serial(args.port, args.speed, timeout=None) as ser:
	30	line = ser.readline().decode()
	31	while '_GCOVEXIT_BEGIN_' not in line:
	32	console.write(line)
	33	line = ser.readline().decode()
	34	line = ser.readline().decode()
	35	while '_GCOVEXIT_END_' not in line:
	36	gcov.write(line)
	37	line = ser.readline().decode()
	38
	39	if __name__ == "__main__":
	40	main()

.hgsub +1 -1

@@ -1,4 +1,4
1	header/lfr_common_headers = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/~~SOLO_LFR~~/lfr_common_headers	1	header/lfr_common_headers = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/lfr_common_headers
2		2
3	LFR_basic-parameters = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/CHUST/LFR_basic-parameters	3	LFR_basic-parameters = https://hephaistos.lpp.polytechnique.fr/rhodecode/HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/CHUST/LFR_basic-parameters
4		4

.hgsubstate +1 -1

@@ -1,2 +1,2
1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters	1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
2	e904b329ff977514bf36af92617afefd22fd06ab header/lfr_common_headers	2	f5b83fb540b1cfd5d87c68621fb53f238eb623ae header/lfr_common_headers

CMakeLists.txt +1 -1

             cmake_minimum_required (VERSION 2.6)
             project (LFR_FSW)
             if(NOT CMAKE_BUILD_TYPE)
               set(CMAKE_BUILD_TYPE "Release" CACHE STRING
                   "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
             endif(NOT CMAKE_BUILD_TYPE)
             set(LFR_BP_SRC ${CMAKE_CURRENT_SOURCE_DIR}/LFR_basic-parameters/basic_parameters.c)
             SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/sparc")
+            add_subdirectory(libgcov)
             add_subdirectory(src)
-            #add_subdirectory(timegen)

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

header/fsw_misc.h +2 -15

             #ifndef FSW_MISC_H_INCLUDED
             #define FSW_MISC_H_INCLUDED
             #include <rtems.h>
             #include <stdio.h>
             #include <grspw.h>
             #include <grlib_regs.h>
             #include "fsw_params.h"
             #include "fsw_spacewire.h"
             #include "lfr_cpu_usage_report.h"
-            #define LFR_RESET_CAUSE_UNKNOWN_CAUSE 0
             #define WATCHDOG_LOOP_PRINTF    10
             #define WATCHDOG_LOOP_DEBUG     3
-            #define DUMB_MESSAGE_NB 15
             #define NB_RTEMS_EVENTS 32
             #define EVENT_12        12
             #define EVENT_13        13
             #define EVENT_14        14
-            #define DUMB_MESSAGE_0  "in DUMB *** default"
             #define DUMB_MESSAGE_1  "in DUMB *** timecode_irq_handler"
-            #define DUMB_MESSAGE_2  "in DUMB *** f3 buffer changed"
-            #define DUMB_MESSAGE_3  "in DUMB *** in SMIQ *** Error sending event to AVF0"
-            #define DUMB_MESSAGE_4  "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ"
-            #define DUMB_MESSAGE_5  "in DUMB *** waveforms_simulator_isr"
-            #define DUMB_MESSAGE_6  "VHDL SM *** two buffers f0 ready"
-            #define DUMB_MESSAGE_7  "ready for dump"
-            #define DUMB_MESSAGE_8  "VHDL ERR *** spectral matrix"
-            #define DUMB_MESSAGE_9  "tick"
-            #define DUMB_MESSAGE_10 "VHDL ERR *** waveform picker"
-            #define DUMB_MESSAGE_11 "VHDL ERR *** unexpected ready matrix values"
             #define DUMB_MESSAGE_12 "WATCHDOG timer"
             #define DUMB_MESSAGE_13 "TIMECODE timer"
-            #define DUMB_MESSAGE_14 "TIMECODE ISR"
             enum lfr_reset_cause_t{
                 UNKNOWN_CAUSE,
                 POWER_ON,
                 TC_RESET,
                 WATCHDOG,
                 ERROR_RESET,
                 UNEXP_RESET
             };
             typedef struct{
                 unsigned char dpu_spw_parity;
                 unsigned char dpu_spw_disconnect;
                 unsigned char dpu_spw_escape;
                 unsigned char dpu_spw_credit;
                 unsigned char dpu_spw_write_sync;
                 unsigned char timecode_erroneous;
                 unsigned char timecode_missing;
                 unsigned char timecode_invalid;
                 unsigned char time_timecode_it;
                 unsigned char time_not_synchro;
                 unsigned char time_timecode_ctr;
                 unsigned char ahb_correctable;
             } hk_lfr_le_t;
             typedef struct{
                 unsigned char dpu_spw_early_eop;
                 unsigned char dpu_spw_invalid_addr;
                 unsigned char dpu_spw_eep;
                 unsigned char dpu_spw_rx_too_big;
             } hk_lfr_me_t;
             #define B00 196
             #define B01 196
             #define B02 0
             #define B10 131
             #define B11 -244
             #define B12 131
             #define B20 161
             #define B21 -314
             #define B22 161
             #define A00 1
             #define A01 -925
             #define A02 0
             #define A10 1
             #define A11 -947
             #define A12 439
             #define A20 1
             #define A21 -993
             #define A22 486
             #define GAIN_B0  12
             #define GAIN_B1  11
             #define GAIN_B2  10
             #define GAIN_A0  10
             #define GAIN_A1  9
             #define GAIN_A2  9
             #define NB_COEFFS   3
             #define COEFF0  0
             #define COEFF1  1
             #define COEFF2  2
             typedef struct filter_ctx
             {
                 int W[NB_COEFFS][NB_COEFFS];
             }filter_ctx;
             extern gptimer_regs_t *gptimer_regs;
             extern void ASR16_get_FPRF_IURF_ErrorCounters( unsigned int*, unsigned int* );
             extern void CCR_getInstructionAndDataErrorCounters( unsigned int*, unsigned int* );
             extern rtems_name name_hk_rate_monotonic;            // name of the HK rate monotonic
             extern rtems_id HK_id;// id of the HK rate monotonic period
             extern rtems_name name_avgv_rate_monotonic;            // name of the AVGV rate monotonic
             extern rtems_id AVGV_id;// id of the AVGV rate monotonic period
             void timer_configure( unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() );
             void timer_start( unsigned char timer );
             void timer_stop( unsigned char timer );
             void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider);
             // WATCHDOG
             rtems_isr watchdog_isr( rtems_vector_number vector );
             void watchdog_configure(void);
             void watchdog_stop(void);
             void watchdog_reload(void);
             void watchdog_start(void);
             // SERIAL LINK
             int send_console_outputs_on_apbuart_port( void );
             int enable_apbuart_transmitter( void );
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value);
             // RTEMS TASKS
             rtems_task load_task( rtems_task_argument argument );
             rtems_task hous_task( rtems_task_argument argument );
             rtems_task avgv_task( rtems_task_argument argument );
             rtems_task dumb_task( rtems_task_argument unused );
+            rtems_task scrubbing_task( rtems_task_argument unused );
+            rtems_task calibration_sweep_task( rtems_task_argument unused );
             void init_housekeeping_parameters( void );
             void increment_seq_counter(unsigned short *packetSequenceControl);
             void getTime( unsigned char *time);
             unsigned long long int getTimeAsUnsignedLongLongInt( );
-            void send_dumb_hk( void );
             void get_temperatures( unsigned char *temperatures );
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential );
             void get_cpu_load( unsigned char *resource_statistics );
             void set_hk_lfr_sc_potential_flag( bool state );
             void set_sy_lfr_pas_filter_enabled( bool state );
             void set_sy_lfr_watchdog_enabled( bool state );
             void set_hk_lfr_calib_enable( bool state );
             void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause );
             void hk_lfr_le_me_he_update();
             void set_hk_lfr_time_not_synchro();
             extern int sched_yield( void );
             extern void rtems_cpu_usage_reset();
             extern ring_node *current_ring_node_f3;
             extern ring_node *ring_node_to_send_cwf_f3;
             extern ring_node waveform_ring_f3[];
             extern unsigned short sequenceCounterHK;
             extern unsigned char hk_lfr_q_sd_fifo_size_max;
             extern unsigned char hk_lfr_q_rv_fifo_size_max;
             extern unsigned char hk_lfr_q_p0_fifo_size_max;
             extern unsigned char hk_lfr_q_p1_fifo_size_max;
             extern unsigned char hk_lfr_q_p2_fifo_size_max;
             #endif // FSW_MISC_H_INCLUDED

header/lfr_cpu_usage_report.h +2 -1

             #ifndef LFR_CPU_USAGE_REPORT_H
             #define LFR_CPU_USAGE_REPORT_H
             #ifdef HAVE_CONFIG_H
             #include "config.h"
             #endif
             #include <rtems.h>
             #include <assert.h>
             #include <string.h>
             #include <stdlib.h>
             #include <stdio.h>
             #include <ctype.h>
             #include <inttypes.h>
             #include <rtems/cpuuse.h>
             #include <rtems/bspIo.h>
             #ifndef __RTEMS_USE_TICKS_FOR_STATISTICS__
               #include <rtems/score/timestamp.h>
             #endif
             #ifndef __RTEMS_USE_TICKS_FOR_STATISTICS__
               extern Timestamp_Control  CPU_usage_Uptime_at_last_reset;
             #else
               extern uint32_t           CPU_usage_Ticks_at_last_reset;
             #endif
             unsigned char lfr_rtems_cpu_usage_report( void );
+            #define CONST_10        10
             #define CONST_100       100
+            #define CONST_255       255
             #define CONST_1000      1000
-            #define CONST_100000    100000
             #endif // LFR_CPU_USAGE_REPORT_H

header/processing/fsw_processing.h 0 -9

             #ifndef FSW_PROCESSING_H_INCLUDED
             #define FSW_PROCESSING_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <math.h>
             #include <stdlib.h> // abs() is in the stdlib
             #include <stdio.h>
             #include <math.h>
             #include <grlib_regs.h>
             #include "fsw_params.h"
             #define SBM_COEFF_PER_NORM_COEFF    2
             #define MAX_SRC_DATA                780     // MAX size is 26 bins * 30 Bytes [TM_LFR_SCIENCE_BURST_BP2_F1]
             #define MAX_SRC_DATA_WITH_SPARE     143     // 13 bins  * 11 Bytes
-            #define NODE_0  0
-            #define NODE_1  1
-            #define NODE_2  2
-            #define NODE_3  3
-            #define NODE_4  4
-            #define NODE_5  5
-            #define NODE_6  6
-            #define NODE_7  7
             typedef struct ring_node_asm
             {
                 struct ring_node_asm *next;
                 float  matrix[ TOTAL_SIZE_SM ];
                 unsigned int status;
             } ring_node_asm;
             typedef struct
             {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[BYTES_PER_PACKETID];
                 unsigned char packetSequenceControl[BYTES_PER_SEQ_CTRL];
                 unsigned char packetLength[BYTES_PER_PKT_LEN];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[BYTES_PER_TIME];
                 // AUXILIARY HEADER
                 unsigned char sid;
                 unsigned char pa_bia_status_info;
                 unsigned char sy_lfr_common_parameters_spare;
                 unsigned char sy_lfr_common_parameters;
                 unsigned char acquisitionTime[BYTES_PER_TIME];
                 unsigned char pa_lfr_bp_blk_nr[BYTES_PER_BLKNR];
                 // SOURCE DATA
                 unsigned char data[ MAX_SRC_DATA ];   // MAX size is 26 bins * 30 Bytes [TM_LFR_SCIENCE_BURST_BP2_F1]
             } bp_packet;
             typedef struct
             {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[BYTES_PER_PACKETID];
                 unsigned char packetSequenceControl[BYTES_PER_SEQ_CTRL];
                 unsigned char packetLength[BYTES_PER_PKT_LEN];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[BYTES_PER_TIME];
                 // AUXILIARY HEADER
                 unsigned char sid;
                 unsigned char pa_bia_status_info;
                 unsigned char sy_lfr_common_parameters_spare;
                 unsigned char sy_lfr_common_parameters;
                 unsigned char acquisitionTime[BYTES_PER_TIME];
                 unsigned char source_data_spare;
                 unsigned char pa_lfr_bp_blk_nr[BYTES_PER_BLKNR];
                 // SOURCE DATA
                 unsigned char data[ MAX_SRC_DATA_WITH_SPARE ];   // 13 bins  * 11 Bytes
             } bp_packet_with_spare; // only for TM_LFR_SCIENCE_NORMAL_BP1_F0 and F1
             typedef struct asm_msg
             {
                 ring_node_asm *norm;
                 ring_node_asm *burst_sbm;
                 rtems_event_set event;
                 unsigned int coarseTimeNORM;
                 unsigned int fineTimeNORM;
                 unsigned int coarseTimeSBM;
                 unsigned int fineTimeSBM;
                 unsigned int numberOfSMInASMNORM;
                 unsigned int numberOfSMInASMSBM;
             } asm_msg;
             extern unsigned char thisIsAnASMRestart;
             extern volatile int sm_f0[ ];
             extern volatile int sm_f1[ ];
             extern volatile int sm_f2[ ];
             extern unsigned int acquisitionDurations[];
             // parameters
             extern struct param_local_str param_local;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             // registers
             extern time_management_regs_t *time_management_regs;
             extern volatile spectral_matrix_regs_t *spectral_matrix_regs;
             extern rtems_name  misc_name[];
             extern rtems_id    Task_id[];         /* array of task ids */
             ring_node * getRingNodeForAveraging( unsigned char frequencyChannel);
             // ISR
             rtems_isr spectral_matrices_isr( rtems_vector_number vector );
             //******************
             // Spectral Matrices
             void reset_nb_sm( void );
             // SM
             void SM_init_rings( void );
             void SM_reset_current_ring_nodes( void );
             // ASM
             void ASM_generic_init_ring(ring_node_asm *ring, unsigned char nbNodes );
             //*****************
             // Basic Parameters
             void BP_reset_current_ring_nodes( void );
             void BP_init_header(bp_packet *packet,
                                 unsigned int apid, unsigned char sid,
                                 unsigned int packetLength , unsigned char blkNr);
             void BP_init_header_with_spare(bp_packet_with_spare *packet,
                                            unsigned int apid, unsigned char sid,
                                            unsigned int packetLength, unsigned char blkNr );
             void BP_send( char *data,
                           rtems_id queue_id,
                           unsigned int nbBytesToSend , unsigned int sid );
             void BP_send_s1_s2(char *data,
                                rtems_id queue_id,
                                unsigned int nbBytesToSend, unsigned int sid );
             //******************
             // general functions
             void reset_sm_status( void );
             void reset_spectral_matrix_regs( void );
             void set_time(unsigned char *time, unsigned char *timeInBuffer );
             unsigned long long int get_acquisition_time( unsigned char *timePtr );
             unsigned char getSID( rtems_event_set event );
             extern rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id );
             //***************************************
             // DEFINITIONS OF STATIC INLINE FUNCTIONS
             static inline void SM_average(float *averaged_spec_mat_NORM, float *averaged_spec_mat_SBM,
                                           ring_node *ring_node_tab[],
                                           unsigned int nbAverageNORM, unsigned int nbAverageSBM,
                                           asm_msg *msgForMATR , unsigned char channel);
             void ASM_patch( float *inputASM, float *outputASM );
             void extractReImVectors(float *inputASM, float *outputASM, unsigned int asmComponent );
             static inline void ASM_reorganize_and_divide(float *averaged_spec_mat, float *averaged_spec_mat_reorganized,
                                                          float divider );
             static inline 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);
             static inline void ASM_convert(volatile float *input_matrix, char *output_matrix);
             unsigned char isPolluted( u_int64_t t0, u_int64_t t1, u_int64_t tbad0, u_int64_t tbad1 );
             unsigned char acquisitionTimeIsValid(unsigned int coarseTime, unsigned int fineTime, unsigned char channel);
             void SM_average( float *averaged_spec_mat_NORM, float *averaged_spec_mat_SBM,
                              ring_node *ring_node_tab[],
                              unsigned int nbAverageNORM, unsigned int nbAverageSBM,
                              asm_msg *msgForMATR, unsigned char channel )
             {
                 float sum;
                 unsigned int i;
                 unsigned int k;
                 unsigned char incomingSMIsValid[NB_SM_BEFORE_AVF0_F1];
                 unsigned int numberOfValidSM;
                 unsigned char isValid;
                 //**************
                 // PAS FILTERING
                 // check acquisitionTime of the incoming data
                 numberOfValidSM = 0;
                 for (k=0; k<NB_SM_BEFORE_AVF0_F1; k++)
                 {
                     isValid = acquisitionTimeIsValid( ring_node_tab[k]->coarseTime, ring_node_tab[k]->fineTime, channel );
                     incomingSMIsValid[k] = isValid;
                     numberOfValidSM = numberOfValidSM + isValid;
                 }
                 //************************
                 // AVERAGE SPECTRAL MATRIX
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     sum = INIT_FLOAT;
                     for ( k = 0; k < NB_SM_BEFORE_AVF0_F1; k++ )
                     {
                         if (incomingSMIsValid[k] == MATRIX_IS_NOT_POLLUTED)
                         {
                             sum = sum + ( (int *) (ring_node_tab[0]->buffer_address) ) [ i ] ;
                         }
                     }
                     if ( (nbAverageNORM == 0) && (nbAverageSBM == 0) )
                     {
                         averaged_spec_mat_NORM[ i ] = sum;
                         averaged_spec_mat_SBM[  i ] = sum;
                         msgForMATR->coarseTimeNORM  = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeNORM    = ring_node_tab[0]->fineTime;
                         msgForMATR->coarseTimeSBM   = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeSBM     = ring_node_tab[0]->fineTime;
                     }
                     else if ( (nbAverageNORM != 0) && (nbAverageSBM != 0) )
                     {
                         averaged_spec_mat_NORM[ i ] = ( averaged_spec_mat_NORM[  i ] + sum );
                         averaged_spec_mat_SBM[  i ] = ( averaged_spec_mat_SBM[   i ] + sum );
                     }
                     else if ( (nbAverageNORM != 0) && (nbAverageSBM == 0) )
                     {
                         averaged_spec_mat_NORM[ i ] = ( averaged_spec_mat_NORM[ i ] + sum );
                         averaged_spec_mat_SBM[  i ] = sum;
                         msgForMATR->coarseTimeSBM   = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeSBM     = ring_node_tab[0]->fineTime;
                     }
                     else
                     {
                         averaged_spec_mat_NORM[ i ] = sum;
                         averaged_spec_mat_SBM[  i ] = ( averaged_spec_mat_SBM[   i ] + sum );
                         msgForMATR->coarseTimeNORM   = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeNORM     = ring_node_tab[0]->fineTime;
                         //            PRINTF2("ERR *** in SM_average *** unexpected parameters %d %d\n", nbAverageNORM, nbAverageSBM)
                     }
                 }
                 //*******************
                 // UPDATE SM COUNTERS
                 if ( (nbAverageNORM == 0) && (nbAverageSBM == 0) )
                 {
                     msgForMATR->numberOfSMInASMNORM = numberOfValidSM;
                     msgForMATR->numberOfSMInASMSBM  = numberOfValidSM;
                 }
                 else if ( (nbAverageNORM != 0) && (nbAverageSBM != 0) )
                 {
                     msgForMATR->numberOfSMInASMNORM = msgForMATR->numberOfSMInASMNORM   + numberOfValidSM;
                     msgForMATR->numberOfSMInASMSBM  = msgForMATR->numberOfSMInASMSBM    + numberOfValidSM;
                 }
                 else if ( (nbAverageNORM != 0) && (nbAverageSBM == 0) )
                 {
                     msgForMATR->numberOfSMInASMNORM = msgForMATR->numberOfSMInASMNORM   + numberOfValidSM;
                     msgForMATR->numberOfSMInASMSBM  = numberOfValidSM;
                 }
                 else
                 {
                     msgForMATR->numberOfSMInASMNORM = numberOfValidSM;
                     msgForMATR->numberOfSMInASMSBM  = msgForMATR->numberOfSMInASMSBM    + numberOfValidSM;
                 }
             }
             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;
                         if ( divider != INIT_FLOAT )
                         {
                             averaged_spec_mat_reorganized[offsetASMReorganized  ] = averaged_spec_mat[ offsetASM ] / divider;
                         }
                         else
                         {
                             averaged_spec_mat_reorganized[offsetASMReorganized  ] = INIT_FLOAT;
                         }
                     }
                 }
             }
             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 ASM_convert( volatile float *input_matrix, char *output_matrix)
             {
                 unsigned int frequencyBin;
                 unsigned int asmComponent;
                 char * pt_char_input;
                 char * pt_char_output;
                 unsigned int offsetInput;
                 unsigned int offsetOutput;
                 pt_char_input = (char*) &input_matrix;
                 pt_char_output = (char*) &output_matrix;
                 // convert all other data
                 for( frequencyBin=0; frequencyBin<NB_BINS_PER_SM; frequencyBin++)
                 {
                     for ( asmComponent=0; asmComponent<NB_VALUES_PER_SM; asmComponent++)
                     {
                         offsetInput  =                      (frequencyBin*NB_VALUES_PER_SM) + asmComponent   ;
                         offsetOutput = SM_BYTES_PER_VAL * ( (frequencyBin*NB_VALUES_PER_SM) + asmComponent ) ;
                         pt_char_input =  (char*) &input_matrix [ offsetInput  ];
                         pt_char_output = (char*) &output_matrix[ offsetOutput ];
                         pt_char_output[0] = pt_char_input[0];   // bits 31 downto 24 of the float
                         pt_char_output[1] = pt_char_input[1];   // bits 23 downto 16 of the float
                     }
                 }
             }
             void ASM_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);
             int getFBinMask(int k, unsigned char channel);
             void init_kcoeff_sbm_from_kcoeff_norm( float *input_kcoeff, float *output_kcoeff, unsigned char nb_bins_norm);
             #endif // FSW_PROCESSING_H_INCLUDED

header/tc_handler.h +2 0

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "tc_load_dump_parameters.h"
             #include "tc_acceptance.h"
             #include "tm_lfr_tc_exe.h"
             #include "wf_handler.h"
             #include "fsw_processing.h"
             #include "lfr_cpu_usage_report.h"
             #define MAX_DELTA_COARSE_TIME   3
             #define NB_SCIENCE_TASKS        10
             #define NB_ASM_TASKS            6
             #define STATUS_0    0
             #define STATUS_1    1
             #define STATUS_2    2
             #define STATUS_3    3
             #define STATUS_4    4
             #define STATUS_5    5
             #define STATUS_6    6
             #define STATUS_7    7
             #define STATUS_8    8
             #define STATUS_9    9
             #define CAL_F0              625.
             #define CAL_F1              10000.
             #define CAL_W0              (2. * pi * CAL_F0)
             #define CAL_W1              (2. * pi * CAL_F1)
             #define CAL_A0              1.
             #define CAL_A1              2.
             #define CAL_FS              160256.410
             #define CAL_SCALE_FACTOR    (0.250 / 0.000654) // 191, 500 mVpp, 2 sinus waves => 500 mVpp each, amplitude = 250 mV
             #define CAL_NB_PTS          256
             #define CAL_DATA_MASK       0xfff
             #define CAL_F_DIVISOR       38  // 25 MHz => 160 256 (39 - 1)
+            #define CAL_F_DIVISOR_MIN       38
+            #define CAL_F_DIVISOR_MAX       (38*2*2*2*2)
             // INTERLEAVED MODE
             #define CAL_FS_INTER          240384.615
             #define CAL_NB_PTS_INTER      384
             #define CAL_DATA_MASK_INTER   0x3f
             #define CAL_DATA_SHIFT_INTER  12
             #define BYTES_FOR_2_SAMPLES   3   // one need 3 bytes = 24 bits to store 3 samples of 12 bits in interleaved mode
             #define STEPS_FOR_STORAGE_INTER 128
             #define CAL_F_DIVISOR_INTER 26  // 25 MHz => 240 384
             extern unsigned int lastValidEnterModeTime;
             extern unsigned char oneTcLfrUpdateTimeReceived;
             //****
             // ISR
             rtems_isr commutation_isr1( rtems_vector_number vector );
             rtems_isr commutation_isr2( rtems_vector_number vector );
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused );
             //***********
             // TC ACTIONS
             int action_reset( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             int action_update_info( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_enable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_disable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_update_time( ccsdsTelecommandPacket_t *TC);
             // mode transition
             int check_mode_value( unsigned char requestedMode );
             int check_mode_transition( unsigned char requestedMode );
             void update_last_valid_transition_date( unsigned int transitionCoarseTime );
             int check_transition_date( unsigned int transitionCoarseTime );
             int stop_spectral_matrices( void );
             int stop_current_mode( void );
             int enter_mode_standby(void );
             int enter_mode_normal( unsigned int transitionCoarseTime );
             int enter_mode_burst( unsigned int transitionCoarseTime );
             int enter_mode_sbm1( unsigned int transitionCoarseTime );
             int enter_mode_sbm2( unsigned int transitionCoarseTime );
             int restart_science_tasks( unsigned char lfrRequestedMode );
             int restart_asm_tasks(unsigned char lfrRequestedMode );
             int suspend_science_tasks(void);
             int suspend_asm_tasks( void );
             void launch_waveform_picker( unsigned char mode , unsigned int transitionCoarseTime );
             void launch_spectral_matrix( void );
             void set_sm_irq_onNewMatrix( unsigned char value );
             void set_sm_irq_onError( unsigned char value );
             // other functions
             void updateLFRCurrentMode(unsigned char requestedMode);
             void set_lfr_soft_reset( unsigned char value );
             void reset_lfr( void );
             // CALIBRATION
             void setCalibrationPrescaler( unsigned int prescaler );
             void setCalibrationDivisor( unsigned int divisionFactor );
             void setCalibrationData( void );
             void setCalibrationReload( bool state);
             void setCalibrationEnable( bool state );
             void setCalibrationInterleaved( bool state );
             void setCalibration( bool state );
             void configureCalibration( bool interleaved );
             //
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
             extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
             #endif // TC_HANDLER_H_INCLUDED

header/tc_load_dump_parameters.h 0 -10

             #ifndef TC_LOAD_DUMP_PARAMETERS_H
             #define TC_LOAD_DUMP_PARAMETERS_H
             #include <rtems.h>
             #include <stdio.h>
             #include "fsw_params.h"
             #include "wf_handler.h"
             #include "tm_lfr_tc_exe.h"
             #include "fsw_misc.h"
             #include "basic_parameters_params.h"
             #include "avf0_prc0.h"
             #define FLOAT_EQUAL_ZERO    0.001
             #define NB_BINS_TO_REMOVE   3
             #define FI_INTERVAL_COEFF   0.285
             #define BIN_MIN             0
             #define BIN_MAX             127
             #define DELTAF_F0           96.
             #define DELTAF_F1           16.
             #define DELTAF_F2           1.
-            #define DELTAF_DIV          2.
-            #define BIT_RW1_F1  0x80
-            #define BIT_RW1_F2  0x40
-            #define BIT_RW2_F1  0x20
-            #define BIT_RW2_F2  0x10
-            #define BIT_RW3_F1  0x08
-            #define BIT_RW3_F2  0x04
-            #define BIT_RW4_F1  0x02
-            #define BIT_RW4_F2  0x01
             #define WHEEL_1 1
             #define WHEEL_2 2
             #define WHEEL_3 3
             #define WHEEL_4 4
             #define FREQ_1 1
             #define FREQ_2 2
             #define FREQ_3 3
             #define FREQ_4 4
             #define FLAG_OFFSET_WHEELS_1_3 8
             #define FLAG_OFFSET_WHEELS_2_4 4
             #define FLAG_NAN    0   // Not A NUMBER
             #define FLAG_IAN    1   // Is A Number
             #define SBM_KCOEFF_PER_NORM_KCOEFF  2
             extern unsigned short sequenceCounterParameterDump;
             extern unsigned short sequenceCounters_TM_DUMP[];
             extern float k_coeff_intercalib_f0_norm[ ];
             extern float k_coeff_intercalib_f0_sbm[ ];
             extern float k_coeff_intercalib_f1_norm[ ];
             extern float k_coeff_intercalib_f1_sbm[ ];
             extern float k_coeff_intercalib_f2[ ];
             extern fbins_masks_t fbins_masks;
             int action_load_common_par( ccsdsTelecommandPacket_t *TC );
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time);
             int action_load_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_load_fbins_mask(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_load_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_dump_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_dump_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             // NORMAL
             int check_normal_par_consistency( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_n_swf_p( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_n_bp_p1( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_n_cwf_long_f3( ccsdsTelecommandPacket_t *TC );
             // BURST
             int set_sy_lfr_b_bp_p0( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_b_bp_p1( ccsdsTelecommandPacket_t *TC );
             // SBM1
             int set_sy_lfr_s1_bp_p0( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_s1_bp_p1( ccsdsTelecommandPacket_t *TC );
             // SBM2
             int set_sy_lfr_s2_bp_p0( ccsdsTelecommandPacket_t *TC );
             int set_sy_lfr_s2_bp_p1( ccsdsTelecommandPacket_t *TC );
             // TC_LFR_UPDATE_INFO
             unsigned int check_update_info_hk_lfr_mode( unsigned char mode );
             unsigned int check_update_info_hk_tds_mode( unsigned char mode );
             unsigned int check_update_info_hk_thr_mode( unsigned char mode );
             void set_hk_lfr_sc_rw_f_flag( unsigned char wheel, unsigned char freq, float value );
             void set_hk_lfr_sc_rw_f_flags( void );
             int check_sy_lfr_rw_f( ccsdsTelecommandPacket_t *TC, int offset, int* pos, float* value );
             int check_all_sy_lfr_rw_f( ccsdsTelecommandPacket_t *TC, int *pos, float*value );
             void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC );
             void setFBinMask(unsigned char *fbins_mask, float rw_f, unsigned char deltaFreq, float sy_lfr_rw_k );
             void build_sy_lfr_rw_mask( unsigned int channel );
             void build_sy_lfr_rw_masks();
             void merge_fbins_masks( void );
             // FBINS_MASK
             int set_sy_lfr_fbins( ccsdsTelecommandPacket_t *TC );
             // TC_LFR_LOAD_PARS_FILTER_PAR
             int check_sy_lfr_rw_k( ccsdsTelecommandPacket_t *TC, int offset, int* pos, float* value );
             int check_all_sy_lfr_rw_k( ccsdsTelecommandPacket_t *TC, int *pos, float*value );
             int check_sy_lfr_filter_parameters( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             // KCOEFFICIENTS
             int set_sy_lfr_kcoeff(ccsdsTelecommandPacket_t *TC , rtems_id queue_id);
             void copyFloatByChar( unsigned char *destination, unsigned char *source );
             void copyInt32ByChar( unsigned char *destination, unsigned char *source );
             void copyInt16ByChar( unsigned char *destination, unsigned char *source );
             void floatToChar( float value, unsigned char* ptr);
             void init_parameter_dump( void );
             void init_kcoefficients_dump( void );
             void init_kcoefficients_dump_packet( Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump, unsigned char pkt_nr, unsigned char blk_nr );
             void increment_seq_counter_destination_id_dump( unsigned char *packet_sequence_control, unsigned char destination_id );
             #endif // TC_LOAD_DUMP_PARAMETERS_H

header/wf_handler.h 0 -1

             #ifndef WF_HANDLER_H_INCLUDED
             #define WF_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <stdio.h>
             #include <math.h>
             #include <fsw_params.h>
             #include "fsw_init.h"
             #include "fsw_params_wf_handler.h"
             #define pi 3.14159265359
             #define T0_IN_FINETIME  ( 65536. / 24576. )
             #define T1_IN_FINETIME  ( 65536. / 4096.  )
             #define T2_IN_FINETIME  ( 65536. / 256.   )
             #define T3_IN_FINETIME  ( 65536. / 16.    )
             #define TICKS_PER_T1    16
             #define TICKS_PER_T2    256
             #define TICKS_PER_S     65536.
             #define MS_PER_S        1000.
             #define FREQ_F0     24576.
             #define FREQ_F1     4096.
             #define FREQ_F2     256.
-            #define FREQ_F3     16.
             #define DELTAT_F0   2731    // (2048. / 24576. / 2.) * 65536. = 2730.667;
             #define DELTAT_F1   16384   // (2048. / 4096.  / 2.) * 65536. = 16384;
             #define DELTAT_F2   262144  // (2048. / 256.   / 2.) * 65536. = 262144;
             #define OFFSET_2_BYTES  2
             #define ONE_TICK_CORR_INTERVAL_0_MIN 0.5
             #define ONE_TICK_CORR_INTERVAL_0_MAX 1.0
             #define ONE_TICK_CORR_INTERVAL_1_MIN -1.0
             #define ONE_TICK_CORR_INTERVAL_1_MAX -0.5
             #define ONE_TICK_CORR   1
             #define CORR_MULT       2
             extern int fdSPW;
             //*****************
             // waveform buffers
             extern volatile int wf_buffer_f0[ ];
             extern volatile int wf_buffer_f1[ ];
             extern volatile int wf_buffer_f2[ ];
             extern volatile int wf_buffer_f3[ ];
             extern waveform_picker_regs_0_1_18_t *waveform_picker_regs;
             extern time_management_regs_t *time_management_regs;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern struct param_local_str param_local;
             extern unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             extern unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
             extern rtems_id    Task_id[];         /* array of task ids */
             extern unsigned char lfrCurrentMode;
             //**********
             // RTEMS_ISR
             void reset_extractSWF( void );
             rtems_isr waveforms_isr( rtems_vector_number vector );
             //***********
             // RTEMS_TASK
             rtems_task wfrm_task( rtems_task_argument argument );
             rtems_task cwf3_task( rtems_task_argument argument );
             rtems_task cwf2_task( rtems_task_argument argument );
             rtems_task cwf1_task( rtems_task_argument argument );
             rtems_task swbd_task( rtems_task_argument argument );
             //******************
             // general functions
             void WFP_init_rings( void );
             void init_ring( ring_node ring[], unsigned char nbNodes, volatile int buffer[] , unsigned int bufferSize );
             void WFP_reset_current_ring_nodes( void );
             //
             int init_header_continuous_cwf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF );
             //
             int send_waveform_CWF3_light(ring_node *ring_node_to_send, ring_node *ring_node_cwf3_light, rtems_id queue_id );
             //
             void compute_acquisition_time(unsigned int coarseTime, unsigned int fineTime,
                                           unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char *acquisitionTime );
             void build_snapshot_from_ring(ring_node *ring_node_to_send, unsigned char frequencyChannel ,
                                           unsigned long long acquisitionTimeF0_asLong, ring_node *ring_node_swf_extracted, int *swf_extracted);
             double computeCorrection( unsigned char *timePtr );
             void applyCorrection( double correction );
             void snapshot_resynchronization( unsigned char *timePtr );
             //
             rtems_id get_pkts_queue_id( void );
             //**************
             // wfp registers
             // RESET
             void reset_wfp_burst_enable( void );
             void reset_wfp_status( void );
             void reset_wfp_buffer_addresses( void );
             void reset_waveform_picker_regs( void );
             // SET
             void set_wfp_data_shaping(void);
             void set_wfp_burst_enable_register( unsigned char mode );
             void set_wfp_delta_snapshot( void );
             void set_wfp_delta_f0_f0_2( void );
             void set_wfp_delta_f1( void );
             void set_wfp_delta_f2( void );
             //*****************
             // local parameters
             void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid );
             #endif // WF_HANDLER_H_INCLUDED

sparc/sparc-rtems.cmake +17 -3

             set(rtems_dir /opt/rtems-4.10/)
             set(CMAKE_SYSTEM_NAME rtems)
             set(CMAKE_C_COMPILER ${rtems_dir}/bin/sparc-rtems-gcc)
             set(CMAKE_CXX_COMPILER ${rtems_dir}/bin/sparc-rtems-g++)
             set(CMAKE_LINKER  ${rtems_dir}/bin/sparc-rtems-g++)
             SET(CMAKE_EXE_LINKER_FLAGS "-static")
             option(fix-b2bst "Activate -mfix-b2bst switch to mitigate \"LEON3FT Stale Cache Entry After Store with Data Tag Parity Error\" errata, GRLIB-TN-0009" ON)
+            option(Coverage "Enables code coverage" OFF)
+            set(CMAKE_C_FLAGS_RELEASE "-O3")
+            set(CMAKE_C_FLAGS_DEBUG "-O0")
             if(fix-b2bst)
-                set(CMAKE_C_FLAGS_RELEASE "-O3 -mfix-b2bst")
+                set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -mfix-b2bst")
-            else()
+                set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -mfix-b2bst")
-                set(CMAKE_C_FLAGS_RELEASE "-O3")
             endif()
             set(CMAKE_C_LINK_EXECUTABLE  "<CMAKE_LINKER> <FLAGS> -Xlinker -Map=<TARGET>.map <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>")
             include_directories("${rtems_dir}/sparc-rtems/leon3/lib/include")
             function (check_b2bst target bin)
                 add_custom_command(TARGET ${target}
                     POST_BUILD
                     COMMAND  ${rtems_dir}/bin/sparc-rtems-objdump -d ${bin}/${target} | ${CMAKE_SOURCE_DIR}/sparc/leon3ft-b2bst-scan.tcl
                     )
             endfunction()
+            function (build_srec target bin rev)
+                add_custom_command(TARGET ${target}
+                    POST_BUILD
+                    COMMAND ${rtems_dir}/bin/sparc-rtems-objcopy -j .data -F srec ${bin}/${target} RpwLfrApp_XXXX_data_rev-${rev}.srec && ${rtems_dir}/bin/sparc-rtems-objcopy -j .text -F srec ${bin}/${target} RpwLfrApp_XXXX_text_rev-${rev}.srec
+                    )
+            endfunction()

src/CMakeLists.txt +19 -1

             cmake_minimum_required (VERSION 2.6)
             project (fsw)
             include(sparc-rtems)
             include(cppcheck)
             include_directories("../header"
             	 "../header/lfr_common_headers"
             	 "../header/processing"
                      "../LFR_basic-parameters"
                      "../src")
             set(SOURCES    wf_handler.c
                  tc_handler.c
                  fsw_misc.c
                  fsw_init.c
                  fsw_globals.c
                  fsw_spacewire.c
                  tc_load_dump_parameters.c
                  tm_lfr_tc_exe.c
                  tc_acceptance.c
                  processing/fsw_processing.c
                  processing/avf0_prc0.c
                  processing/avf1_prc1.c
                  processing/avf2_prc2.c
                  lfr_cpu_usage_report.c
                  ${LFR_BP_SRC}
                  ../header/wf_handler.h
                  ../header/tc_handler.h
                  ../header/grlib_regs.h
                  ../header/fsw_misc.h
                  ../header/fsw_init.h
                  ../header/fsw_spacewire.h
                  ../header/tc_load_dump_parameters.h
                  ../header/tm_lfr_tc_exe.h
                  ../header/tc_acceptance.h
                  ../header/processing/fsw_processing.h
                  ../header/processing/avf0_prc0.h
                  ../header/processing/avf1_prc1.h
                  ../header/processing/avf2_prc2.h
                  ../header/fsw_params_wf_handler.h
                  ../header/lfr_cpu_usage_report.h
                  ../header/lfr_common_headers/ccsds_types.h
                  ../header/lfr_common_headers/fsw_params.h
                  ../header/lfr_common_headers/fsw_params_nb_bytes.h
                  ../header/lfr_common_headers/fsw_params_processing.h
                  ../header/lfr_common_headers/tm_byte_positions.h
                  ../LFR_basic-parameters/basic_parameters.h
                  ../LFR_basic-parameters/basic_parameters_params.h
                  ../header/GscMemoryLPP.hpp
             )
             option(FSW_verbose "Enable verbose LFR" OFF)
             option(FSW_boot_messages "Enable LFR boot messages" OFF)
             option(FSW_debug_messages "Enable LFR debug messages" OFF)
             option(FSW_cpu_usage_report "Enable LFR cpu usage report" OFF)
             option(FSW_stack_report "Enable LFR stack report" OFF)
             option(FSW_vhdl_dev "?" OFF)
             option(FSW_lpp_dpu_destid "Set to debug at LPP" OFF)
             option(FSW_debug_watchdog "Enable debug watchdog" OFF)
             option(FSW_debug_tch "?" OFF)
+            option(FSW_Instrument_Scrubbing "Enable scrubbing counter" OFF)
             set(SW_VERSION_N1 "3" CACHE STRING  "Choose N1 FSW Version." FORCE)
             set(SW_VERSION_N2 "2" CACHE STRING  "Choose N2 FSW Version." FORCE)
             set(SW_VERSION_N3 "0" CACHE STRING  "Choose N3 FSW Version." FORCE)
-            set(SW_VERSION_N4 "15" CACHE STRING  "Choose N4 FSW Version." FORCE)
+            set(SW_VERSION_N4 "20" CACHE STRING  "Choose N4 FSW Version." FORCE)
             if(FSW_verbose)
             	add_definitions(-DPRINT_MESSAGES_ON_CONSOLE)
             endif()
             if(FSW_boot_messages)
             	add_definitions(-DBOOT_MESSAGES)
             endif()
             if(FSW_debug_messages)
             	add_definitions(-DDEBUG_MESSAGES)
             endif()
             if(FSW_cpu_usage_report)
             	add_definitions(-DPRINT_TASK_STATISTICS)
             endif()
             if(FSW_stack_report)
             	add_definitions(-DPRINT_STACK_REPORT)
             endif()
             if(FSW_vhdl_dev)
             	add_definitions(-DVHDL_DEV)
             endif()
             if(FSW_lpp_dpu_destid)
             	add_definitions(-DLPP_DPU_DESTID)
             endif()
             if(FSW_debug_watchdog)
             	add_definitions(-DDEBUG_WATCHDOG)
             endif()
             if(FSW_debug_tch)
             	add_definitions(-DDEBUG_TCH)
             endif()
             add_definitions(-DMSB_FIRST_TCH)
             add_definitions(-DSWVERSION=-1-0)
             add_definitions(-DSW_VERSION_N1=${SW_VERSION_N1})
             add_definitions(-DSW_VERSION_N2=${SW_VERSION_N2})
             add_definitions(-DSW_VERSION_N3=${SW_VERSION_N3})
             add_definitions(-DSW_VERSION_N4=${SW_VERSION_N4})
             add_executable(fsw ${SOURCES})
+            if(FSW_Instrument_Scrubbing)
+                add_definitions(-DENABLE_SCRUBBING_COUNTER)
+            endif()
+            if(Coverage)
+                target_link_libraries(fsw gcov)
+                SET_TARGET_PROPERTIES(fsw PROPERTIES COMPILE_FLAGS  "-fprofile-arcs -ftest-coverage")
+            endif()
             if(fix-b2bst)
                 check_b2bst(fsw ${CMAKE_CURRENT_BINARY_DIR})
             endif()
+            if(NOT FSW_lpp_dpu_destid)
+                build_srec(fsw ${CMAKE_CURRENT_BINARY_DIR} "${SW_VERSION_N1}-${SW_VERSION_N2}-${SW_VERSION_N3}-${SW_VERSION_N4}")
+            endif()
             add_test_cppcheck(fsw STYLE UNUSED_FUNCTIONS POSSIBLE_ERROR MISSING_INCLUDE)

src/fsw_globals.c +26 -3

+            /*------------------------------------------------------------------------------
+            --  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_TASKS 20
             #define NB_OF_MISC_NAMES 5
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[NB_OF_MISC_NAMES] = {0};
-            rtems_name  Task_name[NB_OF_TASKS]      = {0};     /* array of task names */
+            rtems_name  Task_name[CONFIGURE_MAXIMUM_TASKS-1]      = {0};     /* array of task names */
-            rtems_id    Task_id[NB_OF_TASKS]        = {0};         /* array of task ids */
+            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 +89 -34

+            /*------------------------------------------------------------------------------
+            --  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
              *
              */
-            //*************************
+            #include <rtems.h>
-            // GPL reminder to be added
-            //*************************
-            #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
-            #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
+            #include <fsw_params.h>
-            #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
-            #define CONFIGURE_MAXIMUM_TASKS 21 // number of tasks concurrently active including INIT
-            #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
-            #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
-            #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
-            #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
-            #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
-            #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
-            #define CONFIGURE_MAXIMUM_DRIVERS 16
-            #define CONFIGURE_MAXIMUM_PERIODS 6 // [hous] [load] [avgv]
-            #define CONFIGURE_MAXIMUM_TIMERS 6 // [spiq] [link] [spacewire_reset_link]
-            #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
-            #ifdef PRINT_STACK_REPORT
-                #define CONFIGURE_STACK_CHECKER_ENABLED
-            #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
-            #ifdef LEON3
+                #ifdef LEON3
-            /* Add Timer and UART Driver */
+                /* Add Timer and UART Driver */
-            #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
+                    #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
-            #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
+                        #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
-            #endif
+                    #endif
-            #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
+                    #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
-            #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
+                        #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
-            #endif
+                    #endif
-            #endif
+                #endif
-            #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
+                #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
+                #include <drvmgr/drvmgr_confdefs.h>
-            #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 two message queues used in the software
+            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 +139 -66

+            /*------------------------------------------------------------------------------
+            --  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 send_dumb_hk( void )
-                Packet_TM_LFR_HK_t dummy_hk_packet;
-                unsigned char *parameters;
-                unsigned int i;
-                rtems_id queue_id;
-                queue_id = RTEMS_ID_NONE;
-                dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
-                dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
-                dummy_hk_packet.reserved = DEFAULT_RESERVED;
-                dummy_hk_packet.userApplication = CCSDS_USER_APP;
-                dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> SHIFT_1_BYTE);
-                dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
-                dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
-                dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
-                dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> SHIFT_1_BYTE);
-                dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
-                dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
-                dummy_hk_packet.serviceType = TM_TYPE_HK;
-                dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
-                dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
-                dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
-                dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
-                dummy_hk_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
-                dummy_hk_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
-                dummy_hk_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
-                dummy_hk_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
-                dummy_hk_packet.sid = SID_HK;
-                // init status word
-                dummy_hk_packet.lfr_status_word[0] = INT8_ALL_F;
-                dummy_hk_packet.lfr_status_word[1] = INT8_ALL_F;
-                // init software version
-                dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
-                dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
-                dummy_hk_packet.lfr_sw_version[BYTE_2] = SW_VERSION_N3;
-                dummy_hk_packet.lfr_sw_version[BYTE_3] = SW_VERSION_N4;
-                // init fpga version
-                parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + APB_OFFSET_VHDL_REV);
-                dummy_hk_packet.lfr_fpga_version[BYTE_0] = parameters[BYTE_1]; // n1
-                dummy_hk_packet.lfr_fpga_version[BYTE_1] = parameters[BYTE_2]; // n2
-                dummy_hk_packet.lfr_fpga_version[BYTE_2] = parameters[BYTE_3]; // n3
-                parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
-                for (i=0; i<(BYTE_POS_HK_REACTION_WHEELS_FREQUENCY - BYTE_POS_HK_LFR_CPU_LOAD); i++)
-                    parameters[i] = INT8_ALL_F;
-                get_message_queue_id_send( &queue_id );
-                rtems_message_queue_send( queue_id, &dummy_hk_packet,
-                                            PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
             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] = 0;
+                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 +36 -37

+            /*------------------------------------------------------------------------------
+            --  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) )
+                            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) )
+                            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 )
+                            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 );
-            //    typedef struct {
-            //        unsigned int tx_link_err;             // NOT IN HK
-            //        unsigned int rx_rmap_header_crc_err;  // NOT IN HK
-            //        unsigned int rx_rmap_data_crc_err;    // NOT IN HK
-            //        unsigned int rx_eep_err;
-            //        unsigned int rx_truncated;
-            //        unsigned int parity_err;
-            //        unsigned int escape_err;
-            //        unsigned int credit_err;
-            //        unsigned int write_sync_err;
-            //        unsigned int disconnect_err;
-            //        unsigned int early_ep;
-            //        unsigned int invalid_address;
-            //        unsigned int packets_sent;
-            //        unsigned int packets_received;
-            //    } spw_stats;
                 // rx_eep_err
                 grspw_stats.rx_eep_err      = grspw_stats.rx_eep_err        + current.rx_eep_err;
                 // rx_truncated
                 grspw_stats.rx_truncated    = grspw_stats.rx_truncated      + current.rx_truncated;
                 // parity_err
                 grspw_stats.parity_err      = grspw_stats.parity_err        + current.parity_err;
                 // escape_err
                 grspw_stats.escape_err      = grspw_stats.escape_err        + current.escape_err;
                 // credit_err
                 grspw_stats.credit_err      = grspw_stats.credit_err        + current.credit_err;
                 // write_sync_err
                 grspw_stats.write_sync_err  = grspw_stats.write_sync_err    + current.write_sync_err;
                 // disconnect_err
                 grspw_stats.disconnect_err  = grspw_stats.disconnect_err    + current.disconnect_err;
                 // early_ep
                 grspw_stats.early_ep        = grspw_stats.early_ep          + current.early_ep;
                 // invalid_address
                 grspw_stats.invalid_address = grspw_stats.invalid_address   + current.invalid_address;
                 // packets_sent
                 grspw_stats.packets_sent    = grspw_stats.packets_sent      + current.packets_sent;
                 // packets_received
                 grspw_stats.packets_received= grspw_stats.packets_received  + current.packets_received;
             }
             void spacewire_get_last_error( void )
             {
                 static spw_stats previous = {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;
-                //    typedef struct {
-                //        unsigned int tx_link_err;             // NOT IN HK
-                //        unsigned int rx_rmap_header_crc_err;  // NOT IN HK
-                //        unsigned int rx_rmap_data_crc_err;    // NOT IN HK
-                //        unsigned int rx_eep_err;
-                //        unsigned int rx_truncated;
-                //        unsigned int parity_err;
-                //        unsigned int escape_err;
-                //        unsigned int credit_err;
-                //        unsigned int write_sync_err;
-                //        unsigned int disconnect_err;
-                //        unsigned int early_ep;
-                //        unsigned int invalid_address;
-                //        unsigned int packets_sent;
-                //        unsigned int packets_received;
-                //    } spw_stats;
                 // tx_link_err *** no code associated to this field
                 // rx_rmap_header_crc_err ***  LE *** in HK
                 if (previous.rx_rmap_header_crc_err != current.rx_rmap_header_crc_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_HEADER_CRC;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_rmap_data_crc_err ***  LE *** NOT IN HK
                 if (previous.rx_rmap_data_crc_err != current.rx_rmap_data_crc_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_DATA_CRC;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_eep_err
                 if (previous.rx_eep_err != current.rx_eep_err)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_EEP;
                     update_hk_lfr_last_er = 1;
                 }
                 // rx_truncated
                 if (previous.rx_truncated != current.rx_truncated)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_RX_TOO_BIG;
                     update_hk_lfr_last_er = 1;
                 }
                 // parity_err
                 if (previous.parity_err != current.parity_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_PARITY;
                     update_hk_lfr_last_er = 1;
                 }
                 // escape_err
                 if (previous.parity_err != current.parity_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_ESCAPE;
                     update_hk_lfr_last_er = 1;
                 }
                 // credit_err
                 if (previous.credit_err != current.credit_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_CREDIT;
                     update_hk_lfr_last_er = 1;
                 }
                 // write_sync_err
                 if (previous.write_sync_err != current.write_sync_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_WRITE_SYNC;
                     update_hk_lfr_last_er = 1;
                 }
                 // disconnect_err
                 if (previous.disconnect_err != current.disconnect_err)
                 {
                     hk_lfr_last_er_rid  = RID_LE_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_DISCONNECT;
                     update_hk_lfr_last_er = 1;
                 }
                 // early_ep
                 if (previous.early_ep != current.early_ep)
                 {
                     hk_lfr_last_er_rid  = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_EARLY_EOP_EEP;
                     update_hk_lfr_last_er = 1;
                 }
                 // invalid_address
                 if (previous.invalid_address != current.invalid_address)
                 {
                     hk_lfr_last_er_rid = RID_ME_LFR_DPU_SPW;
                     hk_lfr_last_er_code = CODE_INVALID_ADDRESS;
                     update_hk_lfr_last_er = 1;
                 }
                 // if a field has changed, update the hk_last_er fields
                 if (update_hk_lfr_last_er == 1)
                 {
                     update_hk_lfr_last_er_fields( hk_lfr_last_er_rid, hk_lfr_last_er_code );
                 }
                 previous = current;
             }
             void update_hk_lfr_last_er_fields(unsigned int rid, unsigned char code)
             {
                 unsigned char *coarseTimePtr;
                 unsigned char *fineTimePtr;
                 coarseTimePtr = (unsigned char*) &time_management_regs->coarse_time;
                 fineTimePtr = (unsigned char*) &time_management_regs->fine_time;
                 housekeeping_packet.hk_lfr_last_er_rid[0]   = (unsigned char) ((rid & 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/lfr_cpu_usage_report.c +16 -65

             /*
              *  CPU Usage Reporter
              *
              *  COPYRIGHT (c) 1989-2009
              *  On-Line Applications Research Corporation (OAR).
              *
              *  The license and distribution terms for this file may be
              *  found in the file LICENSE in this distribution or at
              *  http://www.rtems.com/license/LICENSE.
              *
              *  $Id$
              */
             #include "lfr_cpu_usage_report.h"
+            #include "fsw_params.h"
+            extern rtems_id    Task_id[];
             unsigned char lfr_rtems_cpu_usage_report( void )
             {
                 uint32_t             api_index;
+                uint32_t             information_index;
                 Thread_Control      *the_thread;
                 Objects_Information *information;
                 uint32_t             ival;
                 uint32_t             fval;
             #ifndef __RTEMS_USE_TICKS_FOR_STATISTICS__
                 Timestamp_Control  uptime;
                 Timestamp_Control  total;
                 Timestamp_Control  ran;
             #else
-                uint32_t           total_units = 0;
+                #error "Can't compute CPU usage using ticks on LFR"
             #endif
                 unsigned char cpu_load;
                 ival = 0;
                 cpu_load = 0;
-                /*
-                 *  When not using nanosecond CPU usage resolution, we have to count
-                 *  the number of "ticks" we gave credit for to give the user a rough
-                 *  guideline as to what each number means proportionally.
-                 */
-            #ifndef __RTEMS_USE_TICKS_FOR_STATISTICS__
-                _TOD_Get_uptime( &uptime );
-                _Timestamp_Subtract( &CPU_usage_Uptime_at_last_reset, &uptime, &total );
-            #else
-                for ( api_index = 1 ; api_index <= OBJECTS_APIS_LAST ; api_index++ ) {
-                    if ( !_Objects_Information_table[ api_index ] ) { }
-                    else
-                        information = _Objects_Information_table[ api_index ][ 1 ];
-                        if ( information != NULL )
-                            for ( i=1 ; i <= information->maximum ; i++ ) {
-                                the_thread = (Thread_Control *)information->local_table[ i ];
-                                if ( the_thread != NULL ) {
-                                    total_units += the_thread->cpu_time_used; }
-            #endif
                 for ( api_index = 1 ; api_index <= OBJECTS_APIS_LAST ; api_index++ )
                 {
                     if ( !_Objects_Information_table[ api_index ] ) { }
                     else
                     {
                         information = _Objects_Information_table[ api_index ][ 1 ];
                         if ( information != NULL )
                         {
-                            the_thread = (Thread_Control *)information->local_table[ 1 ];
+                            for(information_index=1;information_index<=information->maximum;information_index++)
-                            if ( the_thread == NULL ) { }
-                            else
                             {
-                #ifndef __RTEMS_USE_TICKS_FOR_STATISTICS__
+                                the_thread = (Thread_Control *)information->local_table[ information_index ];
-                                /*
-                                * If this is the currently executing thread, account for time
+                                if ( the_thread == NULL) { }
-                                * since the last context switch.
+                                else if(the_thread->Object.id == Task_id[TASKID_SCRB]) // Only measure scrubbing task load, CPU load is 100%-Scrubbing
-                                */
-                                ran = the_thread->cpu_time_used;
-                                if ( _Thread_Executing->Object.id == the_thread->Object.id )
                                 {
-                                    Timestamp_Control used;
+                                    _TOD_Get_uptime( &uptime );
-                                    _Timestamp_Subtract(
+                                    _Timestamp_Subtract( &CPU_usage_Uptime_at_last_reset, &uptime, &total );
-                                                &_Thread_Time_of_last_context_switch, &uptime, &used
+                                    ran = the_thread->cpu_time_used;
-                                                );
+                                    _Timestamp_Divide( &ran, &total, &ival, &fval);
-                                    _Timestamp_Add_to( &ran, &used );
+                                    cpu_load = (unsigned char)(CONST_255 - ((ival*CONST_10+fval/CONST_100)*CONST_256/CONST_1000));
                                 }
-                                _Timestamp_Divide( &ran, &total, &ival, &fval );
-                #else
-                                if (total_units != 0)
-                                    uint64_t ival_64;
-                                    ival_64 = the_thread->cpu_time_used;
-                                    ival_64 *= CONST_100000;
-                                    ival = ival_64 / total_units;
-                                else
-                                    ival = 0;
-                                fval = ival % CONST_1000;
-                                ival /= CONST_1000;
-                #endif
                             }
                         }
                     }
                 }
-                cpu_load = (unsigned char) (CONST_100 - ival);
                 return cpu_load;
             }

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 -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
+            ----------------------------------------------------------------------------*/
             /** 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;
-            //        printKCoefficients( freq, bin, k_coeff_intercalib_f0_norm);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[
                                 (freq*KCOEFF_BLK_SIZE) + (coeff*NB_BYTES_PER_FLOAT) + 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;
-            //        printKCoefficients( freq, bin, k_coeff_intercalib_f1_norm);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[
                                 (freq*KCOEFF_BLK_SIZE) + (coeff*NB_BYTES_PER_FLOAT) + 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);
-            //        printKCoefficients( freq, bin, k_coeff_intercalib_f2);
                     for ( coeff = 0; coeff <NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[
                                 (freq * KCOEFF_BLK_SIZE) + (coeff * NB_BYTES_PER_FLOAT) + 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;
-            //        printKCoefficients( freq, bin, k_coeff_intercalib_f2);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_2.kcoeff_blks[
                                 (freq*KCOEFF_BLK_SIZE) + (coeff*NB_BYTES_PER_FLOAT) + 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 -2

+            /*------------------------------------------------------------------------------
+            --  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[ packetLength - 1 ];
-            //    TM.rcv_crc[1] = packetDataField[ packetLength ];
                 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 +27 -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
+            ----------------------------------------------------------------------------*/
             /** 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)
                 {
-                    //PRINTF1("%d ... ", node);
                     bufferAcquisitionTime_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send->coarseTime );
                     if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                     {
-                        //PRINTF1("buffer found with acquisition time = %llx\n", bufferAcquisitionTime_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;
-                //PRINTF2("sampleOffset_asLong = %lld, nbSamplesPart1_asLong = %lld\n", sampleOffset_asLong, nbSamplesPart1_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) )
+                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 -1

+            /*------------------------------------------------------------------------------
+            --  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 ASM_F0_INDICE_STOP          104     // 2 packets of 44 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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