HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r271:98f943ec5c62

3.0.0.19...

paul -

r271:98f943ec5c62 R3a

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r271:98f943ec5c62

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

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options =
             #           verbose
             #           boot_messages
             #           debug_messages
             #           cpu_usage_report
             #           stack_report
             #           vhdl_dev
             #           debug_tch
             #           lpp_dpu_destid      /!\ REMOVE BEFORE DELIVERY TO LESIA /!\
             #           debug_watchdog
             CONFIG += console verbose lpp_dpu_destid
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-1-0
             DEFINES += SW_VERSION_N1=3 # major
             DEFINES += SW_VERSION_N2=0 # minor
             DEFINES += SW_VERSION_N3=0 # patch
-            DEFINES += SW_VERSION_N4=18 # internal
+            DEFINES += SW_VERSION_N4=19 # internal
             # <GCOV>
             #QMAKE_CFLAGS_RELEASE += -fprofile-arcs -ftest-coverage
             #LIBS += -lgcov /opt/GCOV/01A/lib/overload.o -lc
             # </GCOV>
             # <CHANGE BEFORE FLIGHT>
             contains( CONFIG, lpp_dpu_destid ) {
                 DEFINES += LPP_DPU_DESTID
             }
             # </CHANGE BEFORE FLIGHT>
             contains( CONFIG, debug_tch ) {
                 DEFINES += DEBUG_TCH
             }
             DEFINES += MSB_FIRST_TCH
             contains( CONFIG, vhdl_dev ) {
                 DEFINES += VHDL_DEV
             }
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, debug_messages ) {
                 DEFINES += DEBUG_MESSAGES
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             contains( CONFIG, stack_report ) {
                 DEFINES += PRINT_STACK_REPORT
             }
             contains( CONFIG, boot_messages ) {
                 DEFINES += BOOT_MESSAGES
             }
             contains( CONFIG, debug_watchdog ) {
                 DEFINES += DEBUG_WATCHDOG
             }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             INCLUDEPATH += \
                 $${PWD}/../src \
                 $${PWD}/../header \
                 $${PWD}/../header/lfr_common_headers \
                 $${PWD}/../header/processing \
                 $${PWD}/../LFR_basic-parameters
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c \
                 ../src/processing/fsw_processing.c \
                 ../src/processing/avf0_prc0.c \
                 ../src/processing/avf1_prc1.c \
                 ../src/processing/avf2_prc2.c \
                 ../src/lfr_cpu_usage_report.c \
                 ../LFR_basic-parameters/basic_parameters.c
             HEADERS += \
                 ../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/TC_types.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

header/fsw_spacewire.h +2 -1

             #ifndef FSW_SPACEWIRE_H_INCLUDED
             #define FSW_SPACEWIRE_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <fcntl.h>      // for  O_RDWR
             #include <unistd.h>     // for the read call
             #include <sys/ioctl.h>  // for the ioctl call
             #include <errno.h>
             #include "fsw_params.h"
             #include "tc_handler.h"
             #include "fsw_init.h"
             extern spw_stats grspw_stats;
             extern rtems_name timecode_timer_name;
             extern rtems_id timecode_timer_id;
+            extern unsigned char oneTcLfrUpdateTimeReceived;
             // RTEMS TASK
             rtems_task spiq_task( rtems_task_argument argument );
             rtems_task recv_task( rtems_task_argument unused );
             rtems_task send_task( rtems_task_argument argument );
             rtems_task link_task( rtems_task_argument argument );
             int spacewire_open_link( void );
             int spacewire_start_link( int fd );
             int spacewire_stop_and_start_link( int fd );
             int spacewire_configure_link(int fd );
             int spacewire_several_connect_attemps( void );
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
             void spacewire_read_statistics( void );
             void spacewire_get_last_error( void );
             void update_hk_lfr_last_er_fields(unsigned int rid, unsigned char code);
             void update_hk_with_grspw_stats(void );
             void increase_unsigned_char_counter( unsigned char *counter );
             void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header );
             void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header );
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header );
             int spw_send_waveform_CWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header );
             int spw_send_waveform_SWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_SWF_t *header );
             int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header );
             void spw_send_asm_f0( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
             void spw_send_asm_f1( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
             void spw_send_asm_f2( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
             void spw_send_k_dump( ring_node *ring_node_to_send );
-            rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data );
             unsigned int check_timecode_and_previous_timecode_coherency(unsigned char currentTimecodeCtr);
             unsigned int check_timecode_and_internal_time_coherency(unsigned char timecode, unsigned char internalTime);
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
+            rtems_timer_service_routine timecode_timer_routine( rtems_id timer_id, void *user_data );
             void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc );
             #endif // FSW_SPACEWIRE_H_INCLUDED

header/tc_handler.h +1 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"
             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

src/fsw_globals.c +1 0

             /** 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"
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[5];
             rtems_name  Task_name[20];       /* array of task names */
             rtems_id    Task_id[20];         /* array of task ids */
             rtems_name timecode_timer_name;
             rtems_id timecode_timer_id;
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             unsigned char pa_bia_status_info;
             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)));
             volatile int wf_buffer_f1[ NB_RING_NODES_F1 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_buffer_f2[ NB_RING_NODES_F2 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_buffer_f3[ NB_RING_NODES_F3 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             //***********************************
             // 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)));
             volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             // APB CONFIGURATION REGISTERS
             time_management_regs_t          *time_management_regs   = (time_management_regs_t*)         REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t                  *gptimer_regs           = (gptimer_regs_t *)                REGS_ADDR_GPTIMER;
             waveform_picker_regs_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;
             struct param_local_str param_local;
             unsigned int lastValidEnterModeTime;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // message queues occupancy
             unsigned char hk_lfr_q_sd_fifo_size_max;
             unsigned char hk_lfr_q_rv_fifo_size_max;
             unsigned char hk_lfr_q_p0_fifo_size_max;
             unsigned char hk_lfr_q_p1_fifo_size_max;
             unsigned char hk_lfr_q_p2_fifo_size_max;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
             unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounters_TM_DUMP[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounterHK;
             spw_stats grspw_stats;

src/fsw_spacewire.c +51 -48

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

src/tc_handler.c +16 -10

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

src/wf_handler.c +5 -2

             /** 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];
             ring_node *current_ring_node_f0;
             ring_node *ring_node_to_send_swf_f0;
             // F1
             ring_node waveform_ring_f1[NB_RING_NODES_F1];
             ring_node *current_ring_node_f1;
             ring_node *ring_node_to_send_swf_f1;
             ring_node *ring_node_to_send_cwf_f1;
             // F2
             ring_node waveform_ring_f2[NB_RING_NODES_F2];
             ring_node *current_ring_node_f2;
             ring_node *ring_node_to_send_swf_f2;
             ring_node *ring_node_to_send_cwf_f2;
             // F3
             ring_node waveform_ring_f3[NB_RING_NODES_F3];
             ring_node *current_ring_node_f3;
             ring_node *ring_node_to_send_cwf_f3;
             char wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK ];
             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) ];
             int swf2_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) ];
             ring_node ring_node_swf1_extracted;
             ring_node ring_node_swf2_extracted;
             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 1:
                     node = ring_node_to_send_cwf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_cwf_f2;
                     break;
                 case 3:
                     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 0:
                     node = ring_node_to_send_swf_f0;
                     break;
                 case 1:
                     node = ring_node_to_send_swf_f1;
                     break;
                 case 2:
                     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 & 0xc0) != 0x00 ) {  // [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 & 0x40) == 0x40){         // [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 & 0x00008840; // [1000 1000 0100 0000]
                         }
                         else if ((waveform_picker_regs->status & 0x80) == 0x80){     // [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 & 0x00008880; // [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 & 0x30) >> 4;   // [0011 0000] get the status bits for f2
                 switch(status)
                 {
                 case 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_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 & 0x00004410; // [0100 0100 0001 0000]
                     break;
                 case 2:
                     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 & 0x00004420; // [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 & 0x03) != 0x00 )  // [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 & 0x01) == 0x01)
                     {
                         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 & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         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 & 0x00001102; // [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 );
                 }
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [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 & 0x04) == 0x04)
                     {
                         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 & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         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 & 0x00002208; // [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 & 0x30) != 0x00 ) {  // [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 & 0x10) == 0x10)
                     {
                         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 & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         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 & 0x00004420; // [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 & 0xff00) >> 8);
                 if ( (waveform_picker_regs->status & 0xff00) != 0x00)    // [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;
                 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;
                 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 = 0x00;
                 ring_node_cwf3_light.fineTime = 0x00;
                 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 = 0x00;
                 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( 3 );
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             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;
                 acquisitionTimeF0_asLong = 0x00;
                 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( 2 );
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         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 )
                         {
                             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, 2, 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;
                 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)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                         if (status != 0)
                         {
                             PRINTF("cwf sending failed\n")
                         }
                     }
                     // 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;
                 acquisitionTimeF0_asLong = 0x00;
                 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, 1, 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;
                 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) ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     ] = sample[ 0 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 ] = sample[ 1 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 ] = sample[ 2 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 ] = sample[ 3 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 ] = sample[ 4 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 ] = sample[ 5 ];
                 }
                 // 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[6];
                 double deltaT;
                 deltaT = 0.;
                 localAcquisitionTime[0] = (unsigned char) ( coarseTime >> 24 );
                 localAcquisitionTime[1] = (unsigned char) ( coarseTime >> 16 );
                 localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 8  );
                 localAcquisitionTime[3] = (unsigned char) ( coarseTime       );
                 localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 8  );
                 localAcquisitionTime[5] = (unsigned char) ( fineTime         );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                         + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                         + ( (unsigned long long int) localAcquisitionTime[2] << 24 )
                         + ( (unsigned long long int) localAcquisitionTime[3] << 16 )
                         + ( (unsigned long long int) localAcquisitionTime[4] << 8  )
                         + ( (unsigned long long int) localAcquisitionTime[5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d\n", sid)
                             deltaT = 0.;
                     break;
                 }
                 acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                 //
                 acquisitionTime[0] = (unsigned char) (acquisitionTimeAsLong >> 40);
                 acquisitionTime[1] = (unsigned char) (acquisitionTimeAsLong >> 32);
                 acquisitionTime[2] = (unsigned char) (acquisitionTimeAsLong >> 24);
                 acquisitionTime[3] = (unsigned char) (acquisitionTimeAsLong >> 16);
                 acquisitionTime[4] = (unsigned char) (acquisitionTimeAsLong >> 8 );
                 acquisitionTime[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 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 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                 deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                 sampleOffset_asLong = 0x00;
                 // (1) get the f0 acquisition time => the value is passed in argument
                 // (2) compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
                 // (3) compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case 1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = 4096;
                     nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                     break;
                 case 2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;
                     break;
                 }
                 //****************************************************************************
                 // (4) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 for (i=0; i<nb_ring_nodes; i++)
                 {
                     //PRINTF1("%d ... ", i);
                             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);
                                 break;
                     }
                     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 ) >> 16;
                 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[2] = ptr1[ 4 + 2 ];
                 ptr2[3] = ptr1[ 5 + 2 ];
                 // coarse time
                 ptr2 = (unsigned char*) &ring_node_swf_extracted->coarseTime;
                 ptr2[0] = ptr1[ 0 + 2 ];
                 ptr2[1] = ptr1[ 1 + 2 ];
                 ptr2[2] = ptr1[ 2 + 2 ];
                 ptr2[3] = ptr1[ 3 + 2 ];
                 // re set the synchronization bit
                 timeCharPtr = (unsigned char*) &ring_node_to_send->coarseTime;
                 ptr2[0] = ptr2[0] | (timeCharPtr[0] & 0x80); // [1000 0000]
                 if ( (nbSamplesPart1_asLong >= NB_SAMPLES_PER_SNAPSHOT) | (nbSamplesPart1_asLong < 0) )
                 {
                     nbSamplesPart1_asLong = 0;
                 }
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     swf_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) ];
                 }
                 // copy the part 2 of the snapshot in the extracted buffer
                 ring_node_to_send = ring_node_to_send->next;
                 for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                 {
                     swf_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ (i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) ];
                 }
             }
             double computeCorrection( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTime;
                 unsigned long long int centerTime;
                 unsigned long long int previousTick;
                 unsigned long long int nextTick;
                 unsigned long long int deltaPreviousTick;
                 unsigned long long int deltaNextTick;
                 double deltaPrevious_ms;
                 double deltaNext_ms;
                 double correctionInF2;
                 // get acquisition time in fine time ticks
                 acquisitionTime = get_acquisition_time( timePtr );
                 // compute center time
                 centerTime = acquisitionTime + 2731;    // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 previousTick = centerTime - (centerTime & 0xffff);
                 nextTick = previousTick + 65536;
                 deltaPreviousTick   = centerTime - previousTick;
                 deltaNextTick       = nextTick - centerTime;
                 deltaPrevious_ms    = ((double) deltaPreviousTick) / 65536. * 1000.;
                 deltaNext_ms        = ((double) deltaNextTick) / 65536. * 1000.;
                 PRINTF2("    delta previous = %.3f ms, delta next = %.2f ms\n", deltaPrevious_ms, deltaNext_ms);
             //    PRINTF2("    delta previous = %llu fine time ticks, delta next = %llu fine time ticks\n",
             //            deltaPreviousTick, deltaNextTick);
                 // which tick is the closest?
                 if (deltaPreviousTick > deltaNextTick)
                 {
                     // the snapshot center is just before the second => increase delta_snapshot
                     correctionInF2 = + (deltaNext_ms * 256. / 1000. );
                 }
                 else
                 {
                     // the snapshot center is just after the second => decrease delta_snapshot
                     correctionInF2 = - (deltaPrevious_ms * 256. / 1000. );
                 }
                 PRINTF1("    correctionInF2 = %.2f\n", correctionInF2);
                 return correctionInF2;
             }
             void applyCorrection( double correction )
             {
                 int correctionInt;
                 if (correction>=0.)
                 {
                     if ( correction > 0.5 )
                     {
                         correctionInt = 1;
                     }
                     else
                     {
                         correctionInt = floor(correction);
                     }
                 }
                 else
                 {
                     if ( correction < -0.5)
                     {
                         correctionInt = -1;
                     }
                     else
                     {
                         correctionInt =  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    = 0.;
                 static resynchro_state state = MEASURE;
+                static unsigned int nbSnapshots = 0;
                 int correctionInt;
                 correctionInt = 0;
                 switch (state)
                 {
                 case MEASURE:
                     // ********
-                    PRINTF("MEASURE ===\n");
+                    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:
                     //************
-                    PRINTF("CORRECTION ===\n");
+                    PRINTF1("CORRECTION === %d\n", nbSnapshots);
                     state = MEASURE;
                     computeCorrection( timePtr );
                     correction = -correction;
                     PRINTF1("CORRECTION === correction = %.2f\n", correction );
                     applyCorrection( correction );
                     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 & 0x80;
             }
             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 = 0xffff;
             }
             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 = 0xa7f; // 0x30 *** 2688 - 1 => nb samples -1
                 waveform_picker_regs->snapshot_param    = 0xa80; // 0x34 *** 2688 => nb samples
                 waveform_picker_regs->start_date        = 0x7fffffff;  // 0x38
                 //
                 // coarse time and fine time registers are not initialized, they are volatile
                 //
                 waveform_picker_regs->buffer_length     = 0x1f8;// 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 & 0x20) >> 5 )     // BW
                         + ( (data_shaping & 0x10) >> 3 )     // SP0
                         + ( (data_shaping & 0x08) >> 1 )     // SP1
                         + ( (data_shaping & 0x04) << 1 )     // R0
                         + ( (data_shaping & 0x02) << 3 )     // R1
                         + ( (data_shaping & 0x01) << 5 );    // 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 = 0x60;  // [0110 0000] enable f2 and f1 burst
                     waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case LFR_MODE_BURST:
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x0c; // [1100] enable f3 and f2
                     break;
                 default:
                     waveform_picker_regs->run_burst_enable = 0x00;  // [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]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
                 delta_snapshot_in_T2 = delta_snapshot * 256;
                 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] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f0_in_float = nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 24576.) * 256.;
                 waveform_picker_regs->delta_f0      = delta_snapshot - floor( delta_f0_in_float );
                 waveform_picker_regs->delta_f0_2    = 0x30;         // 48 = 11 0000, max 7 bits
             }
             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] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f1_in_float = nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 4096.) * 256.;
                 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] * 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;
                 //******************************************
                 // 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 << 8;
                     *sequence_cnt                = (*sequence_cnt) & 0x3fff;
                     new_packet_sequence_control = segmentation_grouping_flag | (*sequence_cnt) ;
                     packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                     packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                     // increment the sequence counter
                     if ( *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 );
             }

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