HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r8:ab2dbbe22332

Beginning of the message queue implementation for the actions handler

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FSW-rtems/FSW-rtems.cbp +3 -3

             <?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
             <CodeBlocks_project_file>
             	<FileVersion major="1" minor="6" />
             	<Project>
             		<Option title="FSW-rtems" />
             		<Option pch_mode="2" />
-            		<Option compiler="sparc_rtems_gcc" />
+            		<Option compiler="sparcrtemsgcc446" />
             		<Build>
             			<Target title="Debug">
             				<Option output="bin/Debug/fsw" prefix_auto="1" extension_auto="1" />
             				<Option object_output="obj/Debug/" />
             				<Option type="1" />
-            				<Option compiler="sparc_rtems_gcc_compiler" />
+            				<Option compiler="sparcrtems446" />
             				<Compiler>
             					<Add option="-fexpensive-optimizations" />
             					<Add option="-O3" />
             					<Add option="-g" />
             					<Add directory="../header" />
             					<Add directory="../src" />
             				</Compiler>
             			</Target>
             			<Target title="Release">
             				<Option output="bin/Release/FSW-rtems" prefix_auto="1" extension_auto="1" />
             				<Option object_output="obj/Release/" />
             				<Option type="1" />
-            				<Option compiler="sparc_rtems_gcc" />
+            				<Option compiler="sparcrtemsgcc446" />
             				<Compiler>
             					<Add option="-O2" />
             				</Compiler>
             				<Linker>
             					<Add option="-s" />
             				</Linker>
             			</Target>
             		</Build>
             		<Compiler>
             			<Add option="-Wall" />
             		</Compiler>
             		<Unit filename="../header/ccsds_types.h" />
             		<Unit filename="../header/fsw_init.h" />
             		<Unit filename="../header/fsw_misc.h" />
             		<Unit filename="../header/fsw_params.h" />
             		<Unit filename="../header/fsw_processing.h" />
             		<Unit filename="../header/grlib_regs.h" />
             		<Unit filename="../header/tc_handler.h" />
             		<Unit filename="../header/wf_handler.h" />
             		<Unit filename="../src/fsw_globals.c">
             			<Option compilerVar="CC" />
             		</Unit>
             		<Unit filename="../src/fsw_init.c">
             			<Option compilerVar="CC" />
             		</Unit>
             		<Unit filename="../src/fsw_misc.c">
             			<Option compilerVar="CC" />
             		</Unit>
             		<Unit filename="../src/fsw_processing.c">
             			<Option compilerVar="CC" />
             		</Unit>
             		<Unit filename="../src/tc_handler.c">
             			<Option compilerVar="CC" />
             		</Unit>
             		<Unit filename="../src/wf_handler.c">
             			<Option compilerVar="CC" />
             		</Unit>
             		<Extensions>
             			<code_completion />
             			<debugger />
             		</Extensions>
             	</Project>
             </CodeBlocks_project_file>

FSW-rtems/FSW-rtems.layout +12 -12

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             <CodeBlocks_layout_file>
             	<ActiveTarget name="Debug" />
-            	<File name="../header/ccsds_types.h" open="1" top="0" tabpos="5">
+            	<File name="../header/ccsds_types.h" open="0" top="0" tabpos="5">
             		<Cursor position="1172" topLine="24" />
             	</File>
-            	<File name="../header/fsw_init.h" open="0" top="0" tabpos="0">
+            	<File name="../header/fsw_init.h" open="1" top="0" tabpos="3">
-            		<Cursor position="307" topLine="0" />
+            		<Cursor position="410" topLine="16" />
             	</File>
             	<File name="../header/fsw_misc.h" open="0" top="0" tabpos="0">
             		<Cursor position="114" topLine="0" />
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             	</File>
             	<File name="../header/fsw_processing.h" open="0" top="0" tabpos="0">
-            		<Cursor position="175" topLine="1" />
+            		<Cursor position="510" topLine="0" />
             	</File>
-            	<File name="../header/tc_handler.h" open="1" top="0" tabpos="4">
+            	<File name="../header/tc_handler.h" open="0" top="0" tabpos="4">
             		<Cursor position="634" topLine="0" />
             	</File>
             	<File name="../header/wf_handler.h" open="0" top="0" tabpos="0">
             		<Cursor position="212" topLine="0" />
             	</File>
-            	<File name="../src/fsw_globals.c" open="0" top="0" tabpos="0">
+            	<File name="../src/fsw_globals.c" open="1" top="0" tabpos="4">
-            		<Cursor position="908" topLine="0" />
+            		<Cursor position="46" topLine="0" />
             	</File>
-            	<File name="../src/fsw_init.c" open="1" top="0" tabpos="1">
+            	<File name="../src/fsw_init.c" open="1" top="1" tabpos="2">
-            		<Cursor position="1703" topLine="42" />
+            		<Cursor position="3361" topLine="60" />
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             	<File name="../src/fsw_misc.c" open="0" top="0" tabpos="0">
             		<Cursor position="20" topLine="0" />
             	</File>
-            	<File name="../src/fsw_processing.c" open="1" top="0" tabpos="2">
+            	<File name="../src/fsw_processing.c" open="0" top="0" tabpos="2">
             		<Cursor position="1175" topLine="46" />
             	</File>
-            	<File name="../src/tc_handler.c" open="1" top="1" tabpos="3">
+            	<File name="../src/tc_handler.c" open="1" top="0" tabpos="1">
-            		<Cursor position="2672" topLine="26" />
+            		<Cursor position="11070" topLine="270" />
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             	<File name="../src/wf_handler.c" open="0" top="0" tabpos="0">
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FSW-rtems/bin/Debug/fsw binary modified 0 0

NO CONTENT: modified file, binary diff hidden

header/fsw_init.h +2 0

             #ifndef FSW_RTEMS_H_INCLUDED
             #define FSW_RTEMS_H_INCLUDED
             #include <errno.h>
             #include <fcntl.h>
             #include <stdio.h>
             #include <stdlib.h>
             #include <grspw.h>
             #include <apbuart.h>
             #include <fsw_params.h>
             #include <fsw_misc.h>
             #include <fsw_processing.h>
             #include <tc_handler.h>
             #include <wf_handler.h>
             #include <grlib_regs.h>
             extern int sched_yield();
             extern int errno;
+            extern rtems_name misc_names[ ];
             // RTEMS TASKS
             rtems_task Init( rtems_task_argument argument);	/* forward declaration needed */
             rtems_task spw_recv_task(rtems_task_argument argument);
             rtems_task spw_spiq_task(rtems_task_argument argument);
             rtems_task spw_stat_task(rtems_task_argument argument);
             rtems_task spw_wfrm_task(rtems_task_argument argument);
             int create_all_tasks();
             int start_all_tasks();
+            int create_message_queue();
             // OTHER functions
             int configure_spw_link();
             int send_console_outputs_on_serial_port();
             extern int rtems_cpu_usage_report();
             extern int rtems_cpu_usage_reset();
             void print_statistics(spw_stats *);
             rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send);
             #endif // FSW_RTEMS_CONFIG_H_INCLUDED

src/fsw_globals.c +4 0

             #include <fsw_processing.h>
+            #include <rtems.h>
+            // RTEMS GLOBAL VARIABLES
+            rtems_name misc_names[5];
             // WAVEFORMS GLOBAL VARIABLES
             volatile int wf_snap_f0[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
             volatile int wf_snap_f1[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
             volatile int wf_snap_f2[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
             volatile int wf_cont_f3[ NB_SAMPLES_PER_SNAPSHOT * NB_BYTES_SWF_BLK ]; // 24576 bytes
             // SPECTRAL MATRICES GLOBAL VARIABLES
             volatile int spec_mat_f0_a[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_b[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_c[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_d[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_e[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_f[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_g[ TOTAL_SIZE_SPEC_MAT ];
             volatile int spec_mat_f0_h[ TOTAL_SIZE_SPEC_MAT ];
             //
             float averaged_spec_mat_f0[ TOTAL_SIZE_SPEC_MAT ];
             float compressed_spec_mat_f0[ TOTAL_SIZE_COMPRESSED_MATRIX_f0 ];
             // BASIC PARAMETERS GLOBAL VAIRABLES
             unsigned char LFR_BP1_F0[ NB_BINS_COMPRESSED_MATRIX_f0 * 9 ];
             BP1_t data_BP1[ NB_BINS_COMPRESSED_MATRIX_f0 ];

src/fsw_init.c +8 -1

             //*************************
             // 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             10
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS         (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY	100
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 1
             #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>
             int fdSPW;
             int fdUART;
             char *link_status(int status);
             char *lstates[6] = {"Error-reset",
                                 "Error-wait",
                                 "Ready",
                                 "Started",
                                 "Connecting",
                                 "Run"
             };
             rtems_id   Task_id[10];         /* array of task ids */
             rtems_name Task_name[10];       /* array of task names */
             rtems_task Init( rtems_task_argument ignored )
             {
                 rtems_status_code status;
                 //send_console_outputs_on_serial_port();
                 InitLookUpTableForCRC(); // in tc_handler.h
+                create_message_queue();
                 create_all_tasks();
                 start_all_tasks();
                 configure_spw_link();
                 // configure timer for spectral matrices simulation
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM, spectral_matrices_isr );
                 // configure timer for waveforms simulation
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_WF_SIMULATOR, CLKDIV_WF_SIMULATOR,
                                 IRQ_SPARC_WF, waveforms_isr );
                 LEON_Unmask_interrupt( IRQ_SM );
                 LEON_Unmask_interrupt( IRQ_WF );
                 status = rtems_task_delete(RTEMS_SELF);
             }
             rtems_task spw_spiq_task(rtems_task_argument unused)
             {
                 rtems_event_set event_out;
                 struct grspw_regs_str *grspw_regs;
                 grspw_regs = (struct grspw_regs_str *) REGS_ADDR_GRSPW;
                 while(1){
                     PRINTF("In SPIQ *** Waiting for SPW_LINKERR_EVENT\n")
                     rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
                     if (rtems_task_suspend(Task_id[1])!=RTEMS_SUCCESSFUL)   // suspend RECV task
                         PRINTF("In SPIQ *** Error suspending RECV Task\n")
                     configure_spw_link();
                     if (rtems_task_restart(Task_id[1], 1)!=RTEMS_SUCCESSFUL) // restart RECV task
                         PRINTF("In SPIQ *** Error resume RECV Task\n")
                 }
             }
+            int create_message_queue()
+            {
+                misc_names[0] = rtems_build_name( 'D', 'O', 'I', 'T' );
+                return 0;
+            }
             int create_all_tasks()
             {
                 rtems_status_code status;
                 Task_name[1] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[3] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[4] = rtems_build_name( 'S', 'M', 'I', 'Q' );
                 Task_name[5] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[6] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[7] = rtems_build_name( 'B', 'P', 'F', '0' );
                 Task_name[8] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 // RECV
                 status = rtems_task_create(
                     Task_name[1], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[1]
                 );
                 // SPIQ
                 status = rtems_task_create(
                     Task_name[3], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[3]
                 );
                 // SMIQ
                 status = rtems_task_create(
                     Task_name[4], 10, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[4]
                 );
                 // STAT
                 status = rtems_task_create(
                     Task_name[5], 200, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[5]
                 );
                 // AVF0
                 status = rtems_task_create(
                     Task_name[6], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[6]
                 );
                 // BPF0
                 status = rtems_task_create(
                     Task_name[7], 50, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[7]
                 );
                 // WFRM
                 status = rtems_task_create(
                     Task_name[8], 100, RTEMS_MINIMUM_STACK_SIZE * 2,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[8]
                 );
                 return 0;
             }
             int start_all_tasks()
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[3], spw_spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_SPIQ\n")
                 status = rtems_task_start( Task_id[1], spw_recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_RECV\n")
                 //status = rtems_task_start( Task_id[4], spw_bppr_task_rate_monotonic, 1 );
                 status = rtems_task_start( Task_id[4], spw_smiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPPR\n")
                 status = rtems_task_start( Task_id[5], spw_stat_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_STAT\n")
                 status = rtems_task_start( Task_id[6], spw_avf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_AVF0\n")
                 status = rtems_task_start( Task_id[7], spw_bpf0_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_BPF0\n")
                 status = rtems_task_start( Task_id[8], spw_wfrm_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In INIT *** Error starting TASK_WFRM\n")
                 return 0;
             }
             int configure_spw_link()
             {
                 rtems_status_code status;
                 close(fdSPW); // close the device if it is already open
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
                 if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
                 while(ioctl(fdSPW, SPACEWIRE_IOCTRL_START, 0) != RTEMS_SUCCESSFUL){
                     PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" not started, retry\n")
                     close(fdSPW); // close the device
                     fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call reset the hardware
                     if (fdSPW<0) PRINTF("In configure_spw_link *** Error opening"GRSPW_DEVICE_NAME"\n")
                     rtems_task_wake_after(100);
                 }
                 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" opened and started successfully\n")
                 // sets a few parameters of the link
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RMAPEN, 1);      // sets the RMAP enable bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RMAPEN\n")
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[3]);    // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 1);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 //
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 //
                 //status = ioctl(fdSPW, SPACEWIRE_IOCTRL_SET_DESTKEY, CCSDS_DESTINATION_ID);  // sets the destination key
                 //if (status!=RTEMS_SUCCESSFUL) PRINTF("In RECV *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 //
                 PRINTF("In configure_spw_link *** "GRSPW_DEVICE_NAME" configured successfully\n")
                 return RTEMS_SUCCESSFUL;
             }
             char *link_status(int status){
                     return lstates[status];
             }
             rtems_status_code write_spw(spw_ioctl_pkt_send* spw_ioctl_send)
             {
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                 if (status!=RTEMS_SUCCESSFUL) printf("In write_spw *** Error SPACEWIRE_IOCTRL_SEND\n");
                 return status;
             }

src/tc_handler.c +1 -1

             #include <tc_handler.h>
             #include <fsw_params.h>
             char *errorCCSDSMsg[8] = { "ILLEGAL_APID 0",
                                         "WRONG_LEN_PACKET 1",
                                         "INCOR_CHECKSUM 2",
                                         "ILL_TYPE 3",
                                         "ILL_SUBTYPE 4",
                                         "WRONG_APP_DATA 5",
                                         "WRONG_CMD_CODE 6",
                                         "CCSDS_TM_VALID 7"
             };
             //**********************
             // GENERAL USE FUNCTIONS
             unsigned int Crc_opt( unsigned char D, unsigned int Chk)
             {
                 return(((Chk << 8) & 0xff00)^lookUpTableForCRC [(((Chk >> 8)^D) & 0x00ff)]);
             }
             void InitLookUpTableForCRC()
             {
                 unsigned int i, tmp;
                 for (i=0; i<256; i++)
                 {
                     tmp = 0;
                     if((i & 1) != 0) tmp = tmp ^ 0x1021;
                     if((i & 2) != 0) tmp = tmp ^ 0x2042;
                     if((i & 4) != 0) tmp = tmp ^ 0x4084;
                     if((i & 8) != 0) tmp = tmp ^ 0x8108;
                     if((i & 16) != 0) tmp = tmp ^ 0x1231;
                     if((i & 32) != 0) tmp = tmp ^ 0x2462;
                     if((i & 64) != 0) tmp = tmp ^ 0x48c4;
                     if((i & 128) != 0) tmp = tmp ^ 0x9188;
                     lookUpTableForCRC[i] = tmp;
                 }
             }
             void GetCRCAsTwoBytes(unsigned char* data, unsigned char* crcAsTwoBytes, unsigned int sizeOfData)
             {
                 unsigned int Chk;
                 int j;
                 Chk = 0xffff; // reset the syndrom to all ones
                 for (j=0; j<sizeOfData; j++) {
                     Chk = Crc_opt(data[j], Chk);
                 }
                 crcAsTwoBytes[0] = (unsigned char) (Chk >> 8);
                 crcAsTwoBytes[1] = (unsigned char) (Chk & 0x00ff);
             }
             //*********************
             // ACCEPTANCE FUNCTIONS
             unsigned int TC_checker(ccsdsTelecommandPacket_t *TC, unsigned int TC_LEN_RCV,
                                      TMHeader_t *TM_Header, unsigned int *hlen, char *data)
             {
                 unsigned int code = 0;
                 unsigned int data_length = 0;
                 unsigned char computed_CRC[2];
                 unsigned char subtype = 0;
                 subtype = TC->dataFieldHeader[2];
                 GetCRCAsTwoBytes( (unsigned char*) TC->packetID, computed_CRC, TC_LEN_RCV + 5 );
                 code = acceptTM( TC, TC_LEN_RCV ) ;
                 //PRINTF1("in TC_checker *** %s\n", errorCCSDSMsg[code]);
                 if ( (code == 0) | (code == 1) | (code == 2)
                     | (code == 3) | (code == 4) | (code == 5) )
                 { // generate TM_LFR_TC_EXE_CORRUPTED
                     // BUILD HEADER
                     TM_build_header( TM_LFR_TC_EXE_ERR, SID_EXE_CORR, TM_LEN_EXE_CORR, 0, 0, TM_Header);
                     // BUILD DATA
                     TM_build_data( TC, data, SID_EXE_CORR, computed_CRC);
                     data_length = TM_LEN_EXE_CORR + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
                 }
                 if (subtype == SID_TC_UPDT_TIME){
                     // BUILD HEADER
                     TM_build_header( TM_LFR_TC_EXE_OK, SID_DEFAULT, TM_LEN_EXE, 0, 0, TM_Header);
                     // BUILD DATA
                     TM_build_data( TC, data, SID_DEFAULT, computed_CRC);
                     data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
                 }
                 else { // TM_LFR_TC_EXE_NOT_IMPLEMENTED
                     // BUILD HEADER
                     TM_build_header( TM_LFR_TC_EXE_ERR, SID_NOT_IMP, TM_LEN_NOT_IMP, 0, 0, TM_Header);
                     // BUILD DATA
                     TM_build_data( TC, data, SID_NOT_IMP, computed_CRC);
                     data_length = TM_LEN_NOT_IMP + CCSDS_TC_TM_PACKET_OFFSET - TM_HEADER_LEN;
                 }
                 return data_length;
             }
             unsigned char acceptTM(ccsdsTelecommandPacket_t * TMPacket, unsigned int TC_LEN_RCV)
             {
                 unsigned char pid = 0;
                 unsigned char category = 0;
                 unsigned int length = 0;
                 unsigned char packetType = 0;
                 unsigned char packetSubtype = 0;
                 unsigned char * CCSDSContent;
                 // APID check *** APID on 2 bytes
                 pid = ((TMPacket->packetID[0] & 0x07)<<4) + ( (TMPacket->packetID[1]>>4) & 0x0f );   // PID = 11 *** 7 bits xxxxx210 7654xxxx
                 category = (TMPacket->packetID[1] & 0x0f);         // PACKET_CATEGORY = 12 *** 4 bits xxxxxxxx xxxx3210
                 if (pid!=CCSDS_PROCESS_ID) return ILLEGAL_APID;
                 if (category!=CCSDS_PACKET_CATEGORY) return ILLEGAL_APID;
                 // packet length check
                 length = TMPacket->packetLength[0] * 256 + TMPacket->packetLength[1];
                 if (length != TC_LEN_RCV ) return WRONG_LEN_PACKET; // LEN RCV != SIZE FIELD
                 if (length >= CCSDS_TC_PKT_MAX_SIZE) return WRONG_LEN_PACKET; // check that the packet does not exceed the MAX size
                 packetType = TMPacket->dataFieldHeader[1];
                 packetSubtype = TMPacket->dataFieldHeader[2];
                 // service type, subtype and packet length check
                 if (packetType == 181){
                     switch(packetSubtype){ //subtype, autorized values are 3, 20, 21, 24, 27, 28, 30, 40, 50, 60, 61
                         case 3:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 20:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 21:
                             if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 24:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 27:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 28:
                             if (length!=(14-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 30:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 40:
                             if (length!=(20-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 50:
                             if (length!=(50-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 60:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         case 61:
                             if (length!=(12-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                             break;
                         default:
                             return ILL_SUBTYPE;
                             break;
                         }
                 }
                 else if (packetType == 9){
                     if (packetSubtype!=129) return ILL_SUBTYPE;
                     if (length!=(18-CCSDS_TC_TM_PACKET_OFFSET)) return WRONG_LEN_PACKET;
                 }
                 else return ILL_TYPE;
                 // source ID check // Source ID not documented in the ICD
                 // packet error control, CRC check
                 CCSDSContent = (unsigned char*) TMPacket->packetID;
                 GetCRCAsTwoBytes(CCSDSContent, currentTC_COMPUTED_CRC, length + CCSDS_TC_TM_PACKET_OFFSET - 2); // 2 CRC bytes removed from the calculation of the CRC
                 if (currentTC_COMPUTED_CRC[0] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -2]) return INCOR_CHECKSUM;
                 if (currentTC_COMPUTED_CRC[1] != CCSDSContent[length + CCSDS_TC_TM_PACKET_OFFSET -1]) return INCOR_CHECKSUM;
                 return CCSDS_TM_VALID;
             }
             unsigned char TM_build_header( enum TM_TYPE tm_type, unsigned int SID, unsigned int packetLength,
                                           unsigned int coarseTime, unsigned int fineTime, TMHeader_t *TMHeader)
             {
                 TMHeader->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TMHeader->protocolIdentifier = 0x02;
                 TMHeader->reserved = 0x00;
                 TMHeader->userApplication = 0x00;
                 TMHeader->packetID[0] = 0x0c;
                 TMHeader->packetSequenceControl[0] = 0xc0;
                 TMHeader->packetSequenceControl[1] = 0x00;
                 TMHeader->packetLength[0] = (unsigned char) (packetLength>>8);
                 TMHeader->packetLength[1] = (unsigned char) packetLength;
                 TMHeader->dataFieldHeader[0] = 0x10;
                 TMHeader->dataFieldHeader[3] = CCSDS_DESTINATION_ID;
                 switch (tm_type){
                     case(TM_LFR_TC_EXE_OK):
                         TMHeader->packetID[1] = 0xc1;
                         TMHeader->dataFieldHeader[1] = 1; // type
                         TMHeader->dataFieldHeader[2] = 7; // subtype
                         break;
                     case(TM_LFR_TC_EXE_ERR):
                         TMHeader->packetID[1] = 0xc1;
                         TMHeader->dataFieldHeader[1] = 1; // type
                         TMHeader->dataFieldHeader[2] = 8; // subtype
                         break;
                     case(TM_LFR_HK):
                         TMHeader->packetID[1] = 0xc4;
                         TMHeader->dataFieldHeader[1] = 3;  // type
                         TMHeader->dataFieldHeader[2] = 25; // subtype
                         break;
                     case(TM_LFR_SCI):
                         TMHeader->packetID[1] = 0xcc;
                         TMHeader->dataFieldHeader[1] = 21;  // type
                         TMHeader->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_SCI_SBM):
                         TMHeader->packetID[1] = 0xfc;
                         TMHeader->dataFieldHeader[1] = 21;  // type
                         TMHeader->dataFieldHeader[2] = 3; // subtype
                         break;
                     case(TM_LFR_PAR_DUMP):
                         TMHeader->packetID[1] = 0xc9;
                         TMHeader->dataFieldHeader[1] = 181;  // type
                         TMHeader->dataFieldHeader[2] = 31; // subtype
                         break;
                     default:
                         return 0;
                 }
                 /*TMHeader->dataFieldHeader[4] = (unsigned char) (coarseTime>>24);
                 TMHeader->dataFieldHeader[5] = (unsigned char) (coarseTime>>16);
                 TMHeader->dataFieldHeader[6] = (unsigned char) (coarseTime>>8);
                 TMHeader->dataFieldHeader[7] = (unsigned char) (coarseTime);
                 TMHeader->dataFieldHeader[8] = (unsigned char) (fineTime>>8);
                 TMHeader->dataFieldHeader[9] = (unsigned char) (fineTime);*/
                 TMHeader->dataFieldHeader[4] = 0xaa;
                 TMHeader->dataFieldHeader[5] = 0xbb;
                 TMHeader->dataFieldHeader[6] = 0xcc;
                 TMHeader->dataFieldHeader[7] = 0xdd;
                 TMHeader->dataFieldHeader[8] = 0xee;
                 TMHeader->dataFieldHeader[9] = 0xff;
                 return 1;
             }
             unsigned char TM_build_data(ccsdsTelecommandPacket_t *TC, char* data, unsigned int SID, unsigned char *computed_CRC)
             {
                 unsigned int packetLength;
                 packetLength = TC->packetLength[0] * 256 + TC->packetLength[1];
                 switch (SID){
                     case (SID_NOT_EXE):
                         break;
                     case (SID_NOT_IMP):
                         data[0] = 0x9c;
                         data[1] = 0x42;
                         data[2] = TC->packetID[0];
                         data[3] = TC->packetID[1];
                         data[4] = TC->packetSequenceControl[0];
                         data[5] = TC->packetSequenceControl[1];
                         data[6] = TC->dataFieldHeader[1]; // type
                         data[7] = TC->dataFieldHeader[2]; // subtype
                         break;
                     case (SID_EXE_ERR):
                         break;
                     case (SID_EXE_CORR):
                         data[0] = 0x9c;
                         data[1] = 0x45;
                         data[2] = TC->packetID[0];
                         data[3] = TC->packetID[1];
                         data[4] = TC->packetSequenceControl[0];
                         data[5] = TC->packetSequenceControl[1];
                         data[6] = TC->dataFieldHeader[1]; // type
                         data[7] = TC->dataFieldHeader[2]; // subtype
                         data[8] = currentTC_LEN_RCV[0];
                         data[9] = currentTC_LEN_RCV[1];
                         data[10] = TC->packetLength[0];
                         data[11] = TC->packetLength[1];
                         data[12] = TC->dataAndCRC[packetLength];
                         data[13] = TC->dataAndCRC[packetLength+1];
                         data[14] = computed_CRC[0];
                         data[15] = computed_CRC[1];
                         break;
                     default:
                         return 0;
                 }
                 return 1;
             }
             unsigned char actionLauncher(unsigned int sid)
             {
+                return 0;
             }
             //***********
             // RTEMS TASK
             rtems_task spw_recv_task( rtems_task_argument unused )
             {
                 rtems_status_code status;
                 int len = 0;
                 unsigned int i = 0;
                 unsigned int data_length = 0;
                 ccsdsTelecommandPacket_t currentTC;
                 spw_ioctl_pkt_send spw_ioctl_send;
                 TMHeader_t TM_header;
                 char data[100];
                 for(i=0; i<100; i++) data[i] = 0;
                 PRINTF("In RECV *** \n")
                 while(1){
                     len = read(fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF("In RECV *** last read call returned -1\n")
                         if (rtems_event_send( Task_id[3], SPW_LINKERR_EVENT ) != RTEMS_SUCCESSFUL)
                             PRINTF("IN RECV *** Error: rtems_event_send SPW_LINKERR_EVENT\n")
                         if (rtems_task_suspend(RTEMS_SELF) != RTEMS_SUCCESSFUL)
                             PRINTF("In RECV *** Error: rtems_task_suspend(RTEMS_SELF)\n")
                     }
                     else {
                         //PRINTF1("In RECV *** Got Message of length %d\n", len)
                         currentTC_LEN_RCV[0] = 0x00;
                         currentTC_LEN_RCV[1] = (unsigned char) len - CCSDS_TC_TM_PACKET_OFFSET - 3; //  build the corresponding packet size field
                         currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) len - CCSDS_TC_TM_PACKET_OFFSET - 3; // => -3 is for Prot ID, Reserved and User App bytes
                         // CHECK THE TC AND BUILD THE APPROPRIATE TM
                         data_length = TC_checker(&currentTC, currentTC_LEN_RCV_AsUnsignedInt,
                                    &TM_header, &spw_ioctl_send.hlen, data);
                         spw_ioctl_send.hlen = TM_HEADER_LEN + 4; // + 4 is for the protocole extra header
                         spw_ioctl_send.hdr = (char*) &TM_header;
                         spw_ioctl_send.dlen = data_length;
                         spw_ioctl_send.data = data;
                         //printf("hlen %d, dlen %d\n", spw_ioctl_send.hlen, spw_ioctl_send.dlen);
                         // SEND PACKET
                         status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send );
                         if (status!=RTEMS_SUCCESSFUL) printf("In TC_checker *** Error SPACEWIRE_IOCTRL_SEND\n");
                         //PRINTF1("In TC_checker *** packet of size %d sent\n", spw_ioctl_send.sent)
                     }
                 }
             }

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