HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r373:a5fd85da05a7

Now uses FPU in scrubbing task to increase power consumption.

jeandet -

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r373:a5fd85da05a7

src/fsw_init.c +1 -1

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 22 // number of tasks concurrently active including INIT
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 6 // [hous] [load] [avgv]
             #define CONFIGURE_MAXIMUM_TIMERS 6 // [spiq] [link] [spacewire_reset_link]
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
             #ifdef LEON3
             /* Add Timer and UART Driver */
             #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
             #endif
             #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
             #endif
             #endif
             #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
             #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             #include "GscMemoryLPP.hpp"
             void initCache()
             {
                 // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
                 // These should only be read and written using 32-bit LDA/STA instructions.
                 // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
                 // The table below shows the register addresses:
                 //      0x00 Cache control register
                 //      0x04 Reserved
                 //      0x08 Instruction cache configuration register
                 //      0x0C Data cache configuration register
                 // Cache Control Register Leon3 / Leon3FT
                 // 31..30  29   28  27..24  23  22  21  20..19  18  17  16
                 //         RFT  PS  TB      DS  FD  FI  FT          ST  IB
                 // 15  14  13..12  11..10  9..8  7..6  5   4   3..2  1..0
                 // IP  DP  ITE     IDE     DTE   DDE   DF  IF  DCS   ICS
                 unsigned int cacheControlRegister;
                 CCR_resetCacheControlRegister();
                 ASR16_resetRegisterProtectionControlRegister();
                 cacheControlRegister = CCR_getValue();
                 PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
                 PRINTF1("(0) ASR16                        = %x\n", *asr16Ptr);
                 CCR_enableInstructionCache();       // ICS bits
                 CCR_enableDataCache();              // DCS bits
                 CCR_enableInstructionBurstFetch();  // IB  bit
                 faultTolerantScheme();
                 cacheControlRegister = CCR_getValue();
                 PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
                 PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
                 PRINTF("\n");
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 old_isr_handler = NULL;
                 // UART settings
                 enable_apbuart_transmitter();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d-", SW_VERSION_N1)
                 PRINTF1("%d-"   , SW_VERSION_N2)
                 PRINTF1("%d-"   , SW_VERSION_N3)
                 PRINTF1("%d             **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d-", vhdlVersion[1])
                 PRINTF1("%d-"   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_prc0();
                 init_k_coefficients_prc1();
                 init_k_coefficients_prc2();
                 pa_bia_status_info = INIT_CHAR;
                 // initialize all reaction wheels frequencies to NaN
                 rw_f.cp_rpw_sc_rw1_f1 = NAN;
                 rw_f.cp_rpw_sc_rw1_f2 = NAN;
                 rw_f.cp_rpw_sc_rw1_f3 = NAN;
                 rw_f.cp_rpw_sc_rw1_f4 = NAN;
                 rw_f.cp_rpw_sc_rw2_f1 = NAN;
                 rw_f.cp_rpw_sc_rw2_f2 = NAN;
                 rw_f.cp_rpw_sc_rw2_f3 = NAN;
                 rw_f.cp_rpw_sc_rw2_f4 = NAN;
                 rw_f.cp_rpw_sc_rw3_f1 = NAN;
                 rw_f.cp_rpw_sc_rw3_f2 = NAN;
                 rw_f.cp_rpw_sc_rw3_f3 = NAN;
                 rw_f.cp_rpw_sc_rw3_f4 = NAN;
                 rw_f.cp_rpw_sc_rw4_f1 = NAN;
                 rw_f.cp_rpw_sc_rw4_f2 = NAN;
                 rw_f.cp_rpw_sc_rw4_f3 = NAN;
                 rw_f.cp_rpw_sc_rw4_f4 = NAN;
                 // initialize filtering parameters
                 filterPar.spare_sy_lfr_pas_filter_enabled   = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
                 filterPar.sy_lfr_sc_rw_delta_f              = DEFAULT_SY_LFR_SC_RW_DELTA_F;
                 filterPar.sy_lfr_pas_filter_tbad            = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
                 filterPar.sy_lfr_pas_filter_shift           = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
                 filterPar.modulus_in_finetime               = DEFAULT_MODULUS;
                 filterPar.tbad_in_finetime                  = DEFAULT_TBAD;
                 filterPar.offset_in_finetime                = DEFAULT_OFFSET;
                 filterPar.shift_in_finetime                 = DEFAULT_SHIFT;
                 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE  );
                 // waveform picker initialization
                 WFP_init_rings();
                 LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG );    // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 updateLFRCurrentMode( LFR_MODE_STANDBY );
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_timecode_timer();           // create the timer used by timecode_irq_handler
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
                 }
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 set_hk_lfr_sc_potential_flag( true );
                 // start the timer to detect a missing spacewire timecode
                 // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
                 // if a tickout is generated, the timer is restarted
                 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
                 grspw_timecode_callback = &timecode_irq_handler;
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = INIT_CHAR;
                     sequenceCounters_TM_DUMP[i] = INIT_CHAR;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = INIT_CHAR;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    INIT_CHAR;
                 sequenceCounterHK =                     TM_PACKET_SEQ_CTRL_STANDALONE << TM_PACKET_SEQ_SHIFT;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = time_management_regs->ctrl | VAL_SOFTWARE_RESET;  // [0010] software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_AVGV] = rtems_build_name( 'A', 'V', 'G', 'V' );
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 Task_name[TASKID_SCRB] = rtems_build_name( 'S', 'C', 'R', 'B' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 name_avgv_rate_monotonic = rtems_build_name( 'A', 'V', 'G', 'V' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
                 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // LINK
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * STACK_SIZE_MULT,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // LOAD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LOAD], TASK_PRIORITY_LOAD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LOAD]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SCRUBBING TASK
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SCRB], TASK_PRIORITY_SCRB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
-                        RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SCRB]
+                        RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SCRB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVGV
                 {
                     status = rtems_task_create(
                                 Task_name[TASKID_AVGV], TASK_PRIORITY_AVGV, RTEMS_MINIMUM_STACK_SIZE,
                                 RTEMS_DEFAULT_MODES,
                                 RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVGV]
                                 );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // LINK
                 {
                     status = rtems_task_start( Task_id[TASKID_LINK], link_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LINK\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVGV
                 {
                     status = rtems_task_start( Task_id[TASKID_AVGV], avgv_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVGV\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SCRUBBING
                 {
                     status = rtems_task_start( Task_id[TASKID_SCRB], scrubbing_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // LOAD
                 {
                     status = rtems_task_start( Task_id[TASKID_LOAD], load_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LOAD\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 ret = RTEMS_SUCCESSFUL;
                 queue_id = RTEMS_ID_NONE;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code create_timecode_timer( void )
             {
                 rtems_status_code status;
                 status =  rtems_timer_create( timecode_timer_name, &timecode_timer_id );
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in create_timer_timecode *** ERR creating SPTC timer, %d\n", status)
                 }
                 else
                 {
                     PRINTF("in create_timer_timecode *** OK creating SPTC timer\n")
                 }
                 return status;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
             {
                 u_int32_t count;
                 rtems_status_code status;
                 count = 0;
                 status = rtems_message_queue_get_number_pending( queue_id, &count );
                 count = count + 1;
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
                 }
                 else
                 {
                     if (count > *fifo_size_max)
                     {
                         *fifo_size_max = count;
                     }
                 }
             }
             void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
             {
                 unsigned char i;
                 //***************
                 // BUFFER ADDRESS
                 for(i=0; i<nbNodes; i++)
                 {
                     ring[i].coarseTime  = INT32_ALL_F;
                     ring[i].fineTime    = INT32_ALL_F;
                     ring[i].sid         = INIT_CHAR;
                     ring[i].status      = INIT_CHAR;
                     ring[i].buffer_address  = (int) &buffer[ i * bufferSize ];
                 }
                 //*****
                 // NEXT
                  ring[ nbNodes - 1 ].next  = (ring_node*) &ring[ 0 ];
                  for(i=0; i<nbNodes-1; i++)
                  {
                      ring[i].next      = (ring_node*) &ring[ i + 1 ];
                  }
                 //*********
                 // PREVIOUS
                 ring[ 0 ].previous       = (ring_node*) &ring[ nbNodes - 1 ];
                 for(i=1; i<nbNodes; i++)
                 {
                     ring[i].previous   = (ring_node*) &ring[ i - 1 ];
                 }
             }

src/fsw_misc.c +2 -1

             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             int16_t hk_lfr_sc_v_f3_as_int16 = 0;
             int16_t hk_lfr_sc_e1_f3_as_int16 = 0;
             int16_t hk_lfr_sc_e2_f3_as_int16 = 0;
             void timer_configure(unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             {
                 /** This function configures a GPTIMER timer instantiated in the VHDL design.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  * @param interrupt_level is the interrupt level that the timer drives.
                  * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
                  *
                  * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
                  *
                  */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 old_isr_handler = NULL;
                 gptimer_regs->timer[timer].ctrl = INIT_CHAR;  // reset the control register
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status!=RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( timer, clock_divider);
             }
             void timer_start(unsigned char timer)
             {
                 /** This function starts a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_LD;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_EN;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_RS;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_IE;
             }
             void timer_stop(unsigned char timer)
             {
                 /** This function stops a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_EN_MASK;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_IE_MASK;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
             }
             void timer_set_clock_divider(unsigned char timer, unsigned int clock_divider)
             {
                 /** This function sets the clock divider of a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  *
                  */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
             }
             // WATCHDOG
             rtems_isr watchdog_isr( rtems_vector_number vector )
             {
                 rtems_status_code status_code;
                 status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 );
                 PRINTF("watchdog_isr *** this is the end, exit(0)\n");
                 exit(0);
             }
             void watchdog_configure(void)
             {
                 /** This function configure the watchdog.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB.
                  *
                  */
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );    // mask gptimer/watchdog interrupt during configuration
                 timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );   // clear gptimer/watchdog interrupt
             }
             void watchdog_stop(void)
             {
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );                  // mask gptimer/watchdog interrupt line
                 timer_stop( TIMER_WATCHDOG );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );                 // clear gptimer/watchdog interrupt
             }
             void watchdog_reload(void)
             {
                 /** This function reloads the watchdog timer counter with the timer reload value.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  */
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
             }
             void watchdog_start(void)
             {
                 /** This function starts the watchdog timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_CLEAR_IRQ;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_EN;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_IE;
                 LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG );
             }
             int enable_apbuart_transmitter( void )  // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
             //************
             // RTEMS TASKS
             rtems_task load_task(rtems_task_argument argument)
             {
                 BOOT_PRINTF("in LOAD *** \n")
                 rtems_status_code status;
                 unsigned int i;
                 unsigned int j;
                 rtems_name name_watchdog_rate_monotonic;  // name of the watchdog rate monotonic
                 rtems_id watchdog_period_id;              // id of the watchdog rate monotonic period
                 watchdog_period_id = RTEMS_ID_NONE;
                 name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' );
                 status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id );
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status )
                 }
                 i = 0;
                 j = 0;
                 watchdog_configure();
                 watchdog_start();
                 set_sy_lfr_watchdog_enabled( true );
                 while(1){
                     status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD );
                     watchdog_reload();
                     i = i + 1;
                     if ( i == WATCHDOG_LOOP_PRINTF )
                     {
                         i = 0;
                         j = j + 1;
                         PRINTF1("%d\n", j)
                     }
             #ifdef DEBUG_WATCHDOG
                     if (j == WATCHDOG_LOOP_DEBUG )
                     {
                         status = rtems_task_delete(RTEMS_SELF);
                     }
             #endif
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 rtems_status_code spare_status;
                 rtems_id queue_id;
                 rtems_rate_monotonic_period_status period_status;
                 bool isSynchronized;
                 queue_id = RTEMS_ID_NONE;
                 memset(&period_status, 0, sizeof(rtems_rate_monotonic_period_status));
                 isSynchronized = false;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n");
                 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status );
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n");
                 }
                 // startup phase
                 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
                 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 while( (period_status.state != RATE_MONOTONIC_EXPIRED)
                        && (isSynchronized == false) )   // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
                 {
                     if ((time_management_regs->coarse_time & VAL_LFR_SYNCHRONIZED) == INT32_ALL_0) // check time synchronization
                     {
                         isSynchronized = true;
                     }
                     else
                     {
                         status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                         status = rtems_task_wake_after( HK_SYNC_WAIT );        // wait HK_SYNCH_WAIT 100 ms = 10 * 10 ms
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 set_hk_lfr_reset_cause( POWER_ON );
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "in HOUS *** ERR period: %d\n", status);
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
                     }
                     else {
                         housekeeping_packet.packetSequenceControl[BYTE_0] = (unsigned char) (sequenceCounterHK >> SHIFT_1_BYTE);
                         housekeeping_packet.packetSequenceControl[BYTE_1] = (unsigned char) (sequenceCounterHK     );
                         increment_seq_counter( &sequenceCounterHK );
                         housekeeping_packet.time[BYTE_0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                         housekeeping_packet.time[BYTE_1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                         housekeeping_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                         housekeeping_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                         housekeeping_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                         spacewire_update_hk_lfr_link_state( &housekeeping_packet.lfr_status_word[0] );
                         spacewire_read_statistics();
                         update_hk_with_grspw_stats();
                         set_hk_lfr_time_not_synchro();
                         housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
                         housekeeping_packet.sy_lfr_common_parameters_spare  = parameter_dump_packet.sy_lfr_common_parameters_spare;
                         housekeeping_packet.sy_lfr_common_parameters        = parameter_dump_packet.sy_lfr_common_parameters;
                         get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
                         get_v_e1_e2_f3(   housekeeping_packet.hk_lfr_sc_v_f3  );
                         get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
                         hk_lfr_le_me_he_update();
                         // SEND PACKET
                         status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
                                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR send: %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 return;
             }
             int filter( int x, filter_ctx* ctx )
             {
                 static const int b[NB_COEFFS][NB_COEFFS]={ {B00, B01, B02}, {B10, B11, B12}, {B20, B21, B22} };
                 static const int a[NB_COEFFS][NB_COEFFS]={ {A00, A01, A02}, {A10, A11, A12}, {A20, A21, A22} };
                 static const int b_gain[NB_COEFFS]={GAIN_B0, GAIN_B1, GAIN_B2};
                 static const int a_gain[NB_COEFFS]={GAIN_A0, GAIN_A1, GAIN_A2};
                 int_fast32_t W;
                 int i;
                 W = INIT_INT;
                 i = INIT_INT;
                 //Direct-Form-II
                 for ( i = 0; i < NB_COEFFS; i++ )
                 {
                     x = x << a_gain[i];
                     W = (x - ( a[i][COEFF1] * ctx->W[i][COEFF0] )
                            - ( a[i][COEFF2] * ctx->W[i][COEFF1] ) ) >> a_gain[i];
                     x = ( b[i][COEFF0] * W )
                             + ( b[i][COEFF1] * ctx->W[i][COEFF0] )
                             + ( b[i][COEFF2] * ctx->W[i][COEFF1] );
                     x = x >> b_gain[i];
                     ctx->W[i][1] = ctx->W[i][0];
                     ctx->W[i][0] = W;
                 }
                 return x;
             }
             rtems_task avgv_task(rtems_task_argument argument)
             {
             #define MOVING_AVERAGE 16
                 rtems_status_code status;
                 static int32_t v[MOVING_AVERAGE] = {0};
                 static int32_t e1[MOVING_AVERAGE] = {0};
                 static int32_t e2[MOVING_AVERAGE] = {0};
                 static int old_v = 0;
                 static int old_e1 = 0;
                 static int old_e2 = 0;
                 int32_t current_v;
                 int32_t current_e1;
                 int32_t current_e2;
                 int32_t average_v;
                 int32_t average_e1;
                 int32_t average_e2;
                 int32_t newValue_v;
                 int32_t newValue_e1;
                 int32_t newValue_e2;
                 unsigned char k;
                 unsigned char indexOfOldValue;
                 static filter_ctx ctx_v = { { {0,0,0}, {0,0,0}, {0,0,0} } };
                 static filter_ctx ctx_e1 = { { {0,0,0}, {0,0,0}, {0,0,0} } };
                 static filter_ctx ctx_e2 = { { {0,0,0}, {0,0,0}, {0,0,0} } };
                 BOOT_PRINTF("in AVGV ***\n");
                 if (rtems_rate_monotonic_ident( name_avgv_rate_monotonic, &AVGV_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_avgv_rate_monotonic, &AVGV_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status );
                     }
                 }
                 status = rtems_rate_monotonic_cancel(AVGV_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id) ***code: %d\n", status );
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in AVGV *** rtems_rate_monotonic_cancel(AVGV_id)\n");
                 }
                 // initialize values
                 indexOfOldValue = MOVING_AVERAGE - 1;
                 current_v = 0;
                 current_e1 = 0;
                 current_e2 = 0;
                 average_v   = 0;
                 average_e1  = 0;
                 average_e2  = 0;
                 newValue_v  = 0;
                 newValue_e1 = 0;
                 newValue_e2 = 0;
                 k = INIT_CHAR;
                 while(1)
                 { // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( AVGV_id, AVGV_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1( "in AVGV *** ERR period: %d\n", status);
                     }
                     else
                     {
                         current_v = waveform_picker_regs->v;
                         current_e1 = waveform_picker_regs->e1;
                         current_e2 = waveform_picker_regs->e2;
                         if ( (current_v != old_v)
                              || (current_e1 != old_e1)
                              || (current_e2 != old_e2))
                         {
                             average_v = filter( current_v, &ctx_v );
                             average_e1 = filter( current_e1, &ctx_e1 );
                             average_e2 = filter( current_e2, &ctx_e2 );
                             //update int16 values
                             hk_lfr_sc_v_f3_as_int16 =  (int16_t) average_v;
                             hk_lfr_sc_e1_f3_as_int16 = (int16_t) average_e1;
                             hk_lfr_sc_e2_f3_as_int16 = (int16_t) average_e2;
                         }
                         old_v = current_v;
                         old_e1 = current_e1;
                         old_e2 = current_e2;
                     }
                 }
                 PRINTF("in AVGV *** deleting task\n");
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 return;
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
                  *
                  */
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 event_out = EVENT_SETS_NONE_PENDING;
                 BOOT_PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
                                         | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
                                         | RTEMS_EVENT_8 | RTEMS_EVENT_9 | RTEMS_EVENT_12 | RTEMS_EVENT_13
                                         | RTEMS_EVENT_14,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<NB_RTEMS_EVENTS; i++)
                     {
                         if ( ((intEventOut >> i) & 1) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             if (i==EVENT_12)
                             {
                                 PRINTF1("%s\n", DUMB_MESSAGE_12)
                             }
                             if (i==EVENT_13)
                             {
                                 PRINTF1("%s\n", DUMB_MESSAGE_13)
                             }
                             if (i==EVENT_14)
                             {
                                 PRINTF1("%s\n", DUMB_MESSAGE_1)
                             }
                         }
                     }
                 }
             }
             rtems_task scrubbing_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is to avoid entering IDLE task and also scrub memory to increase scubbing frequency.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The scrubbing reads continuously memory when no other tasks are ready.
                  *
                  */
                 BOOT_PRINTF("in SCRUBBING *** \n");
                 volatile int i=0;
+                volatile float valuef = 1.;
                 volatile uint32_t* RAM=(uint32_t*)0x40000000;
                 volatile uint32_t value;
                 while(1){
                     i=(i+1)%(1024*1024);
-                    value += RAM[i];
+                    valuef += 10.f*(float)RAM[i];
                 }
             }
             //*****************************
             // init housekeeping parameters
             void init_housekeeping_parameters( void )
             {
                 /** This function initialize the housekeeping_packet global variable with default values.
                  *
                  */
                 unsigned int i = 0;
                 unsigned char *parameters;
                 unsigned char sizeOfHK;
                 sizeOfHK = sizeof( Packet_TM_LFR_HK_t );
                 parameters = (unsigned char*) &housekeeping_packet;
                 for(i = 0; i< sizeOfHK; i++)
                 {
                     parameters[i] = INIT_CHAR;
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> SHIFT_1_BYTE);
                 housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> SHIFT_1_BYTE);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 housekeeping_packet.sid = SID_HK;
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
                 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[BYTE_2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[BYTE_3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 housekeeping_packet.lfr_fpga_version[BYTE_0] = parameters[BYTE_1]; // n1
                 housekeeping_packet.lfr_fpga_version[BYTE_1] = parameters[BYTE_2]; // n2
                 housekeeping_packet.lfr_fpga_version[BYTE_2] = parameters[BYTE_3]; // n3
                 housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND;
                 housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV;
                 housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0;
                 housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1;
                 housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2;
             }
             void increment_seq_counter( unsigned short *packetSequenceControl )
             {
                 /** This function increment the sequence counter passes in argument.
                  *
                  * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
                  *
                  */
                 unsigned short segmentation_grouping_flag;
                 unsigned short sequence_cnt;
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << SHIFT_1_BYTE;   // keep bits 7 downto 6
                 sequence_cnt                = (*packetSequenceControl) & SEQ_CNT_MASK;    // [0011 1111 1111 1111]
                 if ( sequence_cnt < SEQ_CNT_MAX)
                 {
                     sequence_cnt = sequence_cnt + 1;
                 }
                 else
                 {
                     sequence_cnt = 0;
                 }
                 *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ;
             }
             void getTime( unsigned char *time)
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 time[0] = (unsigned char) (time_management_regs->coarse_time>>SHIFT_3_BYTES);
                 time[1] = (unsigned char) (time_management_regs->coarse_time>>SHIFT_2_BYTES);
                 time[2] = (unsigned char) (time_management_regs->coarse_time>>SHIFT_1_BYTE);
                 time[3] = (unsigned char) (time_management_regs->coarse_time);
                 time[4] = (unsigned char) (time_management_regs->fine_time>>SHIFT_1_BYTE);
                 time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             unsigned long long int getTimeAsUnsignedLongLongInt( )
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 unsigned long long int time;
                 time = ( (unsigned long long int) (time_management_regs->coarse_time & COARSE_TIME_MASK) << SHIFT_2_BYTES )
                         + time_management_regs->fine_time;
                 return time;
             }
             void send_dumb_hk( void )
             {
                 Packet_TM_LFR_HK_t dummy_hk_packet;
                 unsigned char *parameters;
                 unsigned int i;
                 rtems_id queue_id;
                 queue_id = RTEMS_ID_NONE;
                 dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 dummy_hk_packet.reserved = DEFAULT_RESERVED;
                 dummy_hk_packet.userApplication = CCSDS_USER_APP;
                 dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> SHIFT_1_BYTE);
                 dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> SHIFT_1_BYTE);
                 dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 dummy_hk_packet.serviceType = TM_TYPE_HK;
                 dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
                 dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_3_BYTES);
                 dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_2_BYTES);
                 dummy_hk_packet.time[BYTE_2] = (unsigned char) (time_management_regs->coarse_time >> SHIFT_1_BYTE);
                 dummy_hk_packet.time[BYTE_3] = (unsigned char) (time_management_regs->coarse_time);
                 dummy_hk_packet.time[BYTE_4] = (unsigned char) (time_management_regs->fine_time >> SHIFT_1_BYTE);
                 dummy_hk_packet.time[BYTE_5] = (unsigned char) (time_management_regs->fine_time);
                 dummy_hk_packet.sid = SID_HK;
                 // init status word
                 dummy_hk_packet.lfr_status_word[0] = INT8_ALL_F;
                 dummy_hk_packet.lfr_status_word[1] = INT8_ALL_F;
                 // init software version
                 dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 dummy_hk_packet.lfr_sw_version[BYTE_2] = SW_VERSION_N3;
                 dummy_hk_packet.lfr_sw_version[BYTE_3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + APB_OFFSET_VHDL_REV);
                 dummy_hk_packet.lfr_fpga_version[BYTE_0] = parameters[BYTE_1]; // n1
                 dummy_hk_packet.lfr_fpga_version[BYTE_1] = parameters[BYTE_2]; // n2
                 dummy_hk_packet.lfr_fpga_version[BYTE_2] = parameters[BYTE_3]; // n3
                 parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
                 for (i=0; i<(BYTE_POS_HK_REACTION_WHEELS_FREQUENCY - BYTE_POS_HK_LFR_CPU_LOAD); i++)
                 {
                     parameters[i] = INT8_ALL_F;
                 }
                 get_message_queue_id_send( &queue_id );
                 rtems_message_queue_send( queue_id, &dummy_hk_packet,
                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
             }
             void get_temperatures( unsigned char *temperatures )
             {
                 unsigned char* temp_scm_ptr;
                 unsigned char* temp_pcb_ptr;
                 unsigned char* temp_fpga_ptr;
                 // SEL1 SEL0
                 // 0    0       => PCB
                 // 0    1       => FPGA
                 // 1    0       => SCM
                 temp_scm_ptr  = (unsigned char *) &time_management_regs->temp_scm;
                 temp_pcb_ptr =  (unsigned char *) &time_management_regs->temp_pcb;
                 temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga;
                 temperatures[ BYTE_0 ] = temp_scm_ptr[ BYTE_2 ];
                 temperatures[ BYTE_1 ] = temp_scm_ptr[ BYTE_3 ];
                 temperatures[ BYTE_2 ] = temp_pcb_ptr[ BYTE_2 ];
                 temperatures[ BYTE_3 ] = temp_pcb_ptr[ BYTE_3 ];
                 temperatures[ BYTE_4 ] = temp_fpga_ptr[ BYTE_2 ];
                 temperatures[ BYTE_5 ] = temp_fpga_ptr[ BYTE_3 ];
             }
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
             {
                 unsigned char* v_ptr;
                 unsigned char* e1_ptr;
                 unsigned char* e2_ptr;
                 v_ptr  = (unsigned char *) &hk_lfr_sc_v_f3_as_int16;
                 e1_ptr = (unsigned char *) &hk_lfr_sc_e1_f3_as_int16;
                 e2_ptr = (unsigned char *) &hk_lfr_sc_e2_f3_as_int16;
                 spacecraft_potential[BYTE_0] = v_ptr[0];
                 spacecraft_potential[BYTE_1] = v_ptr[1];
                 spacecraft_potential[BYTE_2] = e1_ptr[0];
                 spacecraft_potential[BYTE_3] = e1_ptr[1];
                 spacecraft_potential[BYTE_4] = e2_ptr[0];
                 spacecraft_potential[BYTE_5] = e2_ptr[1];
             }
             void get_cpu_load( unsigned char *resource_statistics )
             {
                 unsigned char cpu_load;
                 cpu_load = lfr_rtems_cpu_usage_report();
                 // HK_LFR_CPU_LOAD
                 resource_statistics[0] = cpu_load;
                 // HK_LFR_CPU_LOAD_MAX
                 if (cpu_load > resource_statistics[1])
                 {
                      resource_statistics[1] = cpu_load;
                 }
                 // CPU_LOAD_AVE
                 resource_statistics[BYTE_2] = 0;
             #ifndef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
             #endif
             }
             void set_hk_lfr_sc_potential_flag( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_SC_POTENTIAL_FLAG_BIT;   // [0100 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_SC_POTENTIAL_FLAG_MASK;   // [1011 1111]
                 }
             }
             void set_sy_lfr_pas_filter_enabled( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_PAS_FILTER_ENABLED_BIT;   // [0010 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_PAS_FILTER_ENABLED_MASK;   // [1101 1111]
                 }
             }
             void set_sy_lfr_watchdog_enabled( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_WATCHDOG_BIT;   // [0001 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_WATCHDOG_MASK;   // [1110 1111]
                 }
             }
             void set_hk_lfr_calib_enable( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] | STATUS_WORD_CALIB_BIT;   // [0000 1000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] =
                             housekeeping_packet.lfr_status_word[1] & STATUS_WORD_CALIB_MASK;   // [1111 0111]
                 }
             }
             void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause )
             {
                 housekeeping_packet.lfr_status_word[1] =
                         housekeeping_packet.lfr_status_word[1] & STATUS_WORD_RESET_CAUSE_MASK; // [1111 1000]
                 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1]
                         | (lfr_reset_cause & STATUS_WORD_RESET_CAUSE_BITS );   // [0000 0111]
             }
             void increment_hk_counter( unsigned char newValue, unsigned char oldValue, unsigned int *counter )
             {
                 int delta;
                 delta = 0;
                 if (newValue >= oldValue)
                 {
                     delta = newValue - oldValue;
                 }
                 else
                 {
                     delta = (CONST_256 - oldValue) + newValue;
                 }
                 *counter = *counter + delta;
             }
             void hk_lfr_le_update( void )
             {
                 static hk_lfr_le_t old_hk_lfr_le = {0};
                 hk_lfr_le_t new_hk_lfr_le;
                 unsigned int counter;
                 counter = (((unsigned int) housekeeping_packet.hk_lfr_le_cnt[0]) * CONST_256) + housekeeping_packet.hk_lfr_le_cnt[1];
                 // DPU
                 new_hk_lfr_le.dpu_spw_parity    = housekeeping_packet.hk_lfr_dpu_spw_parity;
                 new_hk_lfr_le.dpu_spw_disconnect= housekeeping_packet.hk_lfr_dpu_spw_disconnect;
                 new_hk_lfr_le.dpu_spw_escape    = housekeeping_packet.hk_lfr_dpu_spw_escape;
                 new_hk_lfr_le.dpu_spw_credit    = housekeeping_packet.hk_lfr_dpu_spw_credit;
                 new_hk_lfr_le.dpu_spw_write_sync= housekeeping_packet.hk_lfr_dpu_spw_write_sync;
                 // TIMECODE
                 new_hk_lfr_le.timecode_erroneous= housekeeping_packet.hk_lfr_timecode_erroneous;
                 new_hk_lfr_le.timecode_missing  = housekeeping_packet.hk_lfr_timecode_missing;
                 new_hk_lfr_le.timecode_invalid  = housekeeping_packet.hk_lfr_timecode_invalid;
                 // TIME
                 new_hk_lfr_le.time_timecode_it  = housekeeping_packet.hk_lfr_time_timecode_it;
                 new_hk_lfr_le.time_not_synchro  = housekeeping_packet.hk_lfr_time_not_synchro;
                 new_hk_lfr_le.time_timecode_ctr = housekeeping_packet.hk_lfr_time_timecode_ctr;
                 //AHB
                 new_hk_lfr_le.ahb_correctable   = housekeeping_packet.hk_lfr_ahb_correctable;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb => not handled by the grspw driver
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb => not handled by the grspw driver
                 // update the le counter
                 // DPU
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_parity,    old_hk_lfr_le.dpu_spw_parity,       &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_disconnect,old_hk_lfr_le.dpu_spw_disconnect,   &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_escape,    old_hk_lfr_le.dpu_spw_escape,       &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_credit,    old_hk_lfr_le.dpu_spw_credit,       &counter );
                 increment_hk_counter( new_hk_lfr_le.dpu_spw_write_sync,old_hk_lfr_le.dpu_spw_write_sync,   &counter );
                 // TIMECODE
                 increment_hk_counter( new_hk_lfr_le.timecode_erroneous,old_hk_lfr_le.timecode_erroneous,   &counter );
                 increment_hk_counter( new_hk_lfr_le.timecode_missing,  old_hk_lfr_le.timecode_missing,     &counter );
                 increment_hk_counter( new_hk_lfr_le.timecode_invalid,  old_hk_lfr_le.timecode_invalid,     &counter );
                 // TIME
                 increment_hk_counter( new_hk_lfr_le.time_timecode_it,  old_hk_lfr_le.time_timecode_it,     &counter );
                 increment_hk_counter( new_hk_lfr_le.time_not_synchro,  old_hk_lfr_le.time_not_synchro,     &counter );
                 increment_hk_counter( new_hk_lfr_le.time_timecode_ctr, old_hk_lfr_le.time_timecode_ctr,    &counter );
                 // AHB
                 increment_hk_counter( new_hk_lfr_le.ahb_correctable,   old_hk_lfr_le.ahb_correctable,      &counter );
                 // DPU
                 old_hk_lfr_le.dpu_spw_parity    = new_hk_lfr_le.dpu_spw_parity;
                 old_hk_lfr_le.dpu_spw_disconnect= new_hk_lfr_le.dpu_spw_disconnect;
                 old_hk_lfr_le.dpu_spw_escape    = new_hk_lfr_le.dpu_spw_escape;
                 old_hk_lfr_le.dpu_spw_credit    = new_hk_lfr_le.dpu_spw_credit;
                 old_hk_lfr_le.dpu_spw_write_sync= new_hk_lfr_le.dpu_spw_write_sync;
                 // TIMECODE
                 old_hk_lfr_le.timecode_erroneous= new_hk_lfr_le.timecode_erroneous;
                 old_hk_lfr_le.timecode_missing  = new_hk_lfr_le.timecode_missing;
                 old_hk_lfr_le.timecode_invalid  = new_hk_lfr_le.timecode_invalid;
                 // TIME
                 old_hk_lfr_le.time_timecode_it  = new_hk_lfr_le.time_timecode_it;
                 old_hk_lfr_le.time_not_synchro  = new_hk_lfr_le.time_not_synchro;
                 old_hk_lfr_le.time_timecode_ctr = new_hk_lfr_le.time_timecode_ctr;
                 //AHB
                 old_hk_lfr_le.ahb_correctable   = new_hk_lfr_le.ahb_correctable;
                 // housekeeping_packet.hk_lfr_dpu_spw_rx_ahb => not handled by the grspw driver
                 // housekeeping_packet.hk_lfr_dpu_spw_tx_ahb => not handled by the grspw driver
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // LE
                 housekeeping_packet.hk_lfr_le_cnt[0] = (unsigned char) ((counter & BYTE0_MASK) >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_le_cnt[1] = (unsigned char)  (counter & BYTE1_MASK);
             }
             void hk_lfr_me_update( void )
             {
                 static hk_lfr_me_t old_hk_lfr_me = {0};
                 hk_lfr_me_t new_hk_lfr_me;
                 unsigned int counter;
                 counter = (((unsigned int) housekeeping_packet.hk_lfr_me_cnt[0]) * CONST_256) + housekeeping_packet.hk_lfr_me_cnt[1];
                 // get the current values
                 new_hk_lfr_me.dpu_spw_early_eop     = housekeeping_packet.hk_lfr_dpu_spw_early_eop;
                 new_hk_lfr_me.dpu_spw_invalid_addr  = housekeeping_packet.hk_lfr_dpu_spw_invalid_addr;
                 new_hk_lfr_me.dpu_spw_eep           = housekeeping_packet.hk_lfr_dpu_spw_eep;
                 new_hk_lfr_me.dpu_spw_rx_too_big    = housekeeping_packet.hk_lfr_dpu_spw_rx_too_big;
                 // update the me counter
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_early_eop,      old_hk_lfr_me.dpu_spw_early_eop,    &counter );
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_invalid_addr,   old_hk_lfr_me.dpu_spw_invalid_addr, &counter );
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_eep,            old_hk_lfr_me.dpu_spw_eep,          &counter );
                 increment_hk_counter( new_hk_lfr_me.dpu_spw_rx_too_big,     old_hk_lfr_me.dpu_spw_rx_too_big,   &counter );
                 // store the counters for the next time
                 old_hk_lfr_me.dpu_spw_early_eop     = new_hk_lfr_me.dpu_spw_early_eop;
                 old_hk_lfr_me.dpu_spw_invalid_addr  = new_hk_lfr_me.dpu_spw_invalid_addr;
                 old_hk_lfr_me.dpu_spw_eep           = new_hk_lfr_me.dpu_spw_eep;
                 old_hk_lfr_me.dpu_spw_rx_too_big    = new_hk_lfr_me.dpu_spw_rx_too_big;
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // ME
                 housekeeping_packet.hk_lfr_me_cnt[0] = (unsigned char) ((counter & BYTE0_MASK) >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_me_cnt[1] = (unsigned char)  (counter & BYTE1_MASK);
             }
             void hk_lfr_le_me_he_update()
             {
                 unsigned int hk_lfr_he_cnt;
                 hk_lfr_he_cnt = (((unsigned int) housekeeping_packet.hk_lfr_he_cnt[0]) * 256) + housekeeping_packet.hk_lfr_he_cnt[1];
                 //update the low severity error counter
                 hk_lfr_le_update( );
                 //update the medium severity error counter
                 hk_lfr_me_update();
                 //update the high severity error counter
                 hk_lfr_he_cnt = 0;
                 // update housekeeping packet counters, convert unsigned int numbers in 2 bytes numbers
                 // HE
                 housekeeping_packet.hk_lfr_he_cnt[0] = (unsigned char) ((hk_lfr_he_cnt & BYTE0_MASK) >> SHIFT_1_BYTE);
                 housekeeping_packet.hk_lfr_he_cnt[1] = (unsigned char)  (hk_lfr_he_cnt & BYTE1_MASK);
             }
             void set_hk_lfr_time_not_synchro()
             {
                 static unsigned char synchroLost = 1;
                 int synchronizationBit;
                 // get the synchronization bit
                 synchronizationBit =
                         (time_management_regs->coarse_time & VAL_LFR_SYNCHRONIZED) >> BIT_SYNCHRONIZATION;    // 1000 0000 0000 0000
                 switch (synchronizationBit)
                 {
                 case 0:
                     if (synchroLost == 1)
                     {
                         synchroLost = 0;
                     }
                     break;
                 case 1:
                     if (synchroLost == 0 )
                     {
                         synchroLost = 1;
                         increase_unsigned_char_counter(&housekeeping_packet.hk_lfr_time_not_synchro);
                         update_hk_lfr_last_er_fields( RID_LE_LFR_TIME, CODE_NOT_SYNCHRO );
                     }
                     break;
                 default:
                     PRINTF1("in hk_lfr_time_not_synchro *** unexpected value for synchronizationBit = %d\n", synchronizationBit);
                     break;
                 }
             }
             void set_hk_lfr_ahb_correctable()   // CRITICITY L
             {
                 /** This function builds the error counter hk_lfr_ahb_correctable using the statistics provided
                  * by the Cache Control Register (ASI 2, offset 0) and in the Register Protection Control Register (ASR16) on the
                  * detected errors in the cache, in the integer unit and in the floating point unit.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  * All errors are summed to set the value of the hk_lfr_ahb_correctable counter.
                  *
                 */
                 unsigned int ahb_correctable;
                 unsigned int instructionErrorCounter;
                 unsigned int dataErrorCounter;
                 unsigned int fprfErrorCounter;
                 unsigned int iurfErrorCounter;
                 instructionErrorCounter = 0;
                 dataErrorCounter = 0;
                 fprfErrorCounter = 0;
                 iurfErrorCounter = 0;
                 CCR_getInstructionAndDataErrorCounters( &instructionErrorCounter, &dataErrorCounter);
                 ASR16_get_FPRF_IURF_ErrorCounters( &fprfErrorCounter, &iurfErrorCounter);
                 ahb_correctable = instructionErrorCounter
                         + dataErrorCounter
                         + fprfErrorCounter
                         + iurfErrorCounter
                         + housekeeping_packet.hk_lfr_ahb_correctable;
                 housekeeping_packet.hk_lfr_ahb_correctable = (unsigned char) (ahb_correctable & INT8_ALL_F);  // [1111 1111]
             }

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