HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r107:c303d2da6108

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r107:c303d2da6108

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TimeGenerator-qt/header/timegen_init.h created 644 +41 0

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	1	#ifndef TIMEGEN_INIT_H_INCLUDED
	2	#define TIMEGEN_INIT_H_INCLUDED
	3
	4	#include <rtems.h>
	5	#include <leon.h>
	6
	7	#include "fsw_params.h"
	8	#include "fsw_misc.h"
	9	#include "fsw_processing.h"
	10	#include "wf_handler.h"
	11
	12	#include "timegen_spacewire.h"
	13	#include "timegen_misc.h"
	14
	15	extern rtems_name Task_name[20]; /* array of task names */
	16	extern rtems_id Task_id[20]; /* array of task ids */
	17
	18	// RTEMS TASKS
	19	rtems_task Init( rtems_task_argument argument);
	20
	21	// OTHER functions
	22	void create_names( void );
	23	int create_all_tasks( void );
	24	int start_all_tasks( void );
	25	//
	26	rtems_status_code create_message_queues( void );
	27	rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
	28	rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
	29	//
	30	int start_recv_send_tasks( void );
	31	//
	32	void init_local_mode_parameters( void );
	33	void reset_local_time( void );
	34
	35	extern int rtems_cpu_usage_report( void );
	36	extern int rtems_cpu_usage_reset( void );
	37	extern void rtems_stack_checker_report_usage( void );
	38
	39	extern int sched_yield( void );
	40
	41	#endif // TIMEGEN_INIT_H_INCLUDED

TimeGenerator-qt/header/timegen_misc.h created 644 +39 0

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	1	#ifndef TIMEGEN_MISC_H_INCLUDED
	2	#define TIMEGEN_MISC_H_INCLUDED
	3
	4	#include <rtems.h>
	5	#include <leon.h>
	6
	7	#include "fsw_params.h"
	8	#include "TC_types.h"
	9	#include "tc_acceptance.h"
	10	#include "timegen_init.h"
	11
	12	#define TASK_PRIORITY_UPDT 40
	13
	14	typedef struct {
	15	unsigned char targetLogicalAddress;
	16	unsigned char protocolIdentifier;
	17	unsigned char reserved;
	18	unsigned char userApplication;
	19	// PACKET HEADER
	20	Packet_TC_LFR_UPDATE_TIME_t update_time;
	21	} Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t;
	22
	23	unsigned int coarseTime;
	24
	25	rtems_name rtems_name_updt;
	26	rtems_id rtems_id_updt;
	27
	28	void timegen_timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc );
	29
	30	void initCoarseTime( void );
	31
	32	rtems_task updt_task( rtems_task_argument unused );
	33
	34	int send_tc_lfr_update_time( rtems_id queue_id );
	35
	36	#endif // TIMEGEN_MISC_H_INCLUDED
	37
	38
	39

TimeGenerator-qt/header/timegen_spacewire.h created 644 +48 0

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	1	#ifndef TIMEGEN_SPACEWIRE_H_INCLUDED
	2	#define TIMEGEN_SPACEWIRE_H_INCLUDED
	3
	4	#include <rtems.h>
	5	#include <grspw.h>
	6
	7	#include <fcntl.h> // for O_RDWR
	8	#include <unistd.h> // for the read call
	9	#include <sys/ioctl.h> // for the ioctl call
	10	#include <errno.h>
	11
	12	#include "fsw_params.h"
	13	#include "tc_acceptance.h"
	14	#include "timegen_tc_handler.h"
	15
	16	#define DESTINATION_ID_LFR 0xfe
	17	#define DESTINATION_ID_DPU 0x01
	18	#define SPACEWIRE_LINK_LFR 0x01
	19	#define NODEADDR_TIMEGEN 0xfd
	20
	21	extern rtems_id Task_id[20]; /* array of task ids */
	22	extern int fdSPW;
	23
	24	extern spw_stats spacewire_stats;
	25	extern spw_stats spacewire_stats_backup;
	26
	27	// RTEMS TASK
	28	rtems_task spiq_task( rtems_task_argument argument );
	29	rtems_task recv_task( rtems_task_argument unused );
	30	rtems_task send_task( rtems_task_argument argument );
	31	rtems_task wtdg_task( rtems_task_argument argument );
	32
	33	int spacewire_open_link( void );
	34	int spacewire_start_link( int fd );
	35	int spacewire_stop_start_link( int fd );
	36	int spacewire_configure_link(int fd );
	37	int spacewire_reset_link( void );
	38	void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
	39	void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
	40	void spacewire_compute_stats_offsets( void );
	41	void spacewire_update_statistics( void );
	42
	43	void timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc );
	44	rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data );
	45
	46	void (grspw_timecode_callback) ( void pDev, void *regs, int minor, unsigned int tc );
	47
	48	#endif // TIMEGEN_SPACEWIRE_H_INCLUDED

TimeGenerator-qt/header/timegen_tc_handler.h created 644 +56 0

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	1	#ifndef TIMEGEN_TC_HANDLER_H_INCLUDED
	2	#define TIMEGEN_TC_HANDLER_H_INCLUDED
	3
	4	#include <rtems.h>
	5	#include <leon.h>
	6
	7	#include "tc_load_dump_parameters.h"
	8	#include "tc_acceptance.h"
	9	#include "tm_lfr_tc_exe.h"
	10
	11	// MODE PARAMETERS
	12	extern unsigned int maxCount;
	13
	14	//****
	15	// ISR
	16	rtems_isr commutation_isr1( rtems_vector_number vector );
	17	rtems_isr commutation_isr2( rtems_vector_number vector );
	18
	19	//***********
	20	// RTEMS TASK
	21	rtems_task actn_task( rtems_task_argument unused );
	22
	23	//***********
	24	// TC ACTIONS
	25	int action_reset(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
	26	int action_enter_mode(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
	27	int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
	28	int action_enable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
	29	int action_disable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time);
	30	int action_update_time(ccsdsTelecommandPacket_t *TC);
	31
	32	// mode transition
	33	int transition_validation(unsigned char requestedMode);
	34	int stop_current_mode( void );
	35	int enter_mode(unsigned char mode);
	36	int restart_science_tasks();
	37	int suspend_science_tasks();
	38	void launch_waveform_picker( unsigned char mode );
	39	void launch_spectral_matrix( unsigned char mode );
	40	void set_irq_on_new_ready_matrix(unsigned char value );
	41	void set_run_matrix_spectral( unsigned char value );
	42	void launch_spectral_matrix_simu( unsigned char mode );
	43
	44	// other functions
	45	void updateLFRCurrentMode();
	46	void update_last_TC_exe(ccsdsTelecommandPacket_t *TC );
	47	void update_last_TC_rej(ccsdsTelecommandPacket_t *TC );
	48	void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
	49
	50	extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
	51	extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
	52
	53	#endif // TIMEGEN_TC_HANDLER_H_INCLUDED
	54
	55
	56

TimeGenerator-qt/src/timegen_init.c created 644 +476 0

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	1	/** This is the RTEMS initialization module.
	2	*
	3	* @file
	4	* @author P. LEROY
	5	*
	6	* This module contains two very different information:
	7	* - specific instructions to configure the compilation of the RTEMS executive
	8	* - functions related to the fligth softwre initialization, especially the INIT RTEMS task
	9	*
	10	*/
	11
	12	//*************************
	13	// GPL reminder to be added
	14	//*************************
	15
	16	#include <rtems.h>
	17
	18	/* configuration information */
	19
	20	#define CONFIGURE_INIT
	21
	22	#include <bsp.h> /* for device driver prototypes */
	23
	24	/* configuration information */
	25
	26	#define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
	27	#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
	28
	29	#define CONFIGURE_MAXIMUM_TASKS 20
	30	#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
	31	#define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
	32	#define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
	33	#define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
	34	#define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES \| RTEMS_NO_PREEMPT)
	35	#define CONFIGURE_MAXIMUM_DRIVERS 16
	36	#define CONFIGURE_MAXIMUM_PERIODS 5
	37	#define CONFIGURE_MAXIMUM_TIMERS 5 // STAT (1s), send SWF (0.3s), send CWF3 (1s)
	38	#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 2
	39	#ifdef PRINT_STACK_REPORT
	40	#define CONFIGURE_STACK_CHECKER_ENABLED
	41	#endif
	42
	43	#include <rtems/confdefs.h>
	44
	45	/* If --drvmgr was enabled during the configuration of the RTEMS kernel */
	46	#ifdef RTEMS_DRVMGR_STARTUP
	47	#ifdef LEON3
	48	/* Add Timer and UART Driver */
	49	#ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
	50	#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
	51	#endif
	52	#ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
	53	#define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
	54	#endif
	55	#endif
	56	#define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW /* GRSPW Driver */
	57	#include <drvmgr/drvmgr_confdefs.h>
	58	#endif
	59
	60	#include "timegen_init.h"
	61	#include "fsw_config.c"
	62
	63	rtems_task Init( rtems_task_argument ignored )
	64	{
	65	/** This is the RTEMS INIT taks, it the first task launched by the system.
	66	*
	67	* @param unused is the starting argument of the RTEMS task
	68	*
	69	* The INIT task create and run all other RTEMS tasks.
	70	*
	71	*/
	72
	73	rtems_status_code status;
	74	rtems_status_code status_spw;
	75
	76	// initCoarseTime();
	77
	78	// UART settings
	79	send_console_outputs_on_apbuart_port();
	80	set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
	81	enable_apbuart_transmitter();
	82	DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
	83
	84	PRINTF("\n\n\n\n\n")
	85	PRINTF("*************************\n")
	86	PRINTF(" Time Generator \n")
	87	PRINTF1("** %d.", SW_VERSION_N1)
	88	PRINTF1("%d.", SW_VERSION_N2)
	89	PRINTF1("%d.", SW_VERSION_N3)
	90	PRINTF1("%d **\n", SW_VERSION_N4)
	91	PRINTF("*************************\n")
	92	PRINTF("\n\n")
	93
	94	// init_local_mode_parameters();
	95	// init_housekeeping_parameters();
	96
	97	// updateLFRCurrentMode();
	98
	99	// BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
	100
	101	create_names(); // create all names
	102
	103	status = create_message_queues(); // create message queues
	104	if (status != RTEMS_SUCCESSFUL)
	105	{
	106	PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
	107	}
	108
	109	status = create_all_tasks(); // create all tasks
	110	if (status != RTEMS_SUCCESSFUL)
	111	{
	112	PRINTF1("in INIT *** ERR in create_all_tasks, code %d", status)
	113	}
	114
	115	// **************************
	116	// <SPACEWIRE INITIALIZATION>
	117	grspw_timecode_callback = &timegen_timecode_irq_handler;
	118
	119	status_spw = spacewire_open_link(); // (1) open the link
	120	if ( status_spw != RTEMS_SUCCESSFUL )
	121	{
	122	PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
	123	}
	124
	125	if ( status_spw == RTEMS_SUCCESSFUL ) // (2) configure the link
	126	{
	127	status_spw = spacewire_configure_link( fdSPW );
	128	if ( status_spw != RTEMS_SUCCESSFUL )
	129	{
	130	PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
	131	}
	132	}
	133
	134	if ( status_spw == RTEMS_SUCCESSFUL) // (3) start the link
	135	{
	136	status_spw = spacewire_start_link( fdSPW );
	137	if ( status_spw != RTEMS_SUCCESSFUL )
	138	{
	139	PRINTF1("in INIT *** ERR spacewire_start_link code %d\n", status_spw )
	140	}
	141	}
	142	// </SPACEWIRE INITIALIZATION>
	143	// ***************************
	144
	145	status = start_all_tasks(); // start all tasks
	146	if (status != RTEMS_SUCCESSFUL)
	147	{
	148	PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
	149	}
	150
	151	// start RECV and SEND AFTER SpaceWire Initialization, due to the timeout of the start call during the initialization
	152	status = start_recv_send_tasks();
	153	if ( status != RTEMS_SUCCESSFUL )
	154	{
	155	PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n", status )
	156	}
	157
	158	// suspend science tasks. they will be restarted later depending on the mode
	159	status = suspend_science_tasks(); // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
	160	if (status != RTEMS_SUCCESSFUL)
	161	{
	162	PRINTF1("in INIT * in suspend_science_tasks * ERR code: %d\n", status)
	163	}
	164
	165	// if the spacewire link is not up then send an event to the SPIQ task for link recovery
	166	if ( status_spw != RTEMS_SUCCESSFUL )
	167	{
	168	status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
	169	if ( status != RTEMS_SUCCESSFUL ) {
	170	PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n", status )
	171	}
	172	}
	173
	174	BOOT_PRINTF("delete INIT\n")
	175
	176	status = rtems_task_delete(RTEMS_SELF);
	177
	178	}
	179
	180	void init_local_mode_parameters( void )
	181	{
	182	/** This function initialize the param_local global variable with default values.
	183	*
	184	*/
	185
	186	unsigned int i;
	187
	188	// LOCAL PARAMETERS
	189	// set_local_nb_interrupt_f0_MAX();
	190
	191	BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
	192	BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
	193	BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
	194
	195	// init sequence counters
	196
	197	for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
	198	{
	199	sequenceCounters_TC_EXE[i] = 0x00;
	200	}
	201	sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
	202	sequenceCounters_SCIENCE_SBM1_SBM2 = 0x00;
	203	}
	204
	205	void create_names( void ) // create all names for tasks and queues
	206	{
	207	/** This function creates all RTEMS names used in the software for tasks and queues.
	208	*
	209	* @return RTEMS directive status codes:
	210	* - RTEMS_SUCCESSFUL - successful completion
	211	*
	212	*/
	213
	214	// task names
	215	Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
	216	Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
	217	Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
	218	Task_name[TASKID_SMIQ] = rtems_build_name( 'S', 'M', 'I', 'Q' );
	219	Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
	220	Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
	221	Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
	222	Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
	223	Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
	224	Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
	225	Task_name[TASKID_MATR] = rtems_build_name( 'M', 'A', 'T', 'R' );
	226	Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
	227	Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
	228	Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
	229	Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
	230	Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
	231
	232	// TIMEGEN
	233	rtems_name_updt = rtems_build_name( 'U', 'P', 'D', 'T' );
	234
	235	// rate monotonic period names
	236	name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
	237
	238	misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
	239	misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
	240	}
	241
	242	int create_all_tasks( void ) // create all tasks which run in the software
	243	{
	244	/** This function creates all RTEMS tasks used in the software.
	245	*
	246	* @return RTEMS directive status codes:
	247	* - RTEMS_SUCCESSFUL - task created successfully
	248	* - RTEMS_INVALID_ADDRESS - id is NULL
	249	* - RTEMS_INVALID_NAME - invalid task name
	250	* - RTEMS_INVALID_PRIORITY - invalid task priority
	251	* - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
	252	* - RTEMS_TOO_MANY - too many tasks created
	253	* - RTEMS_UNSATISFIED - not enough memory for stack/FP context
	254	* - RTEMS_TOO_MANY - too many global objects
	255	*
	256	*/
	257
	258	rtems_status_code status;
	259
	260	//**********
	261	// SPACEWIRE
	262	// RECV
	263	status = rtems_task_create(
	264	Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
	265	RTEMS_DEFAULT_MODES,
	266	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
	267	);
	268	if (status == RTEMS_SUCCESSFUL) // SEND
	269	{
	270	status = rtems_task_create(
	271	Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
	272	RTEMS_DEFAULT_MODES \| RTEMS_NO_PREEMPT,
	273	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
	274	);
	275	}
	276	if (status == RTEMS_SUCCESSFUL) // WTDG
	277	{
	278	status = rtems_task_create(
	279	Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
	280	RTEMS_DEFAULT_MODES,
	281	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
	282	);
	283	}
	284	if (status == RTEMS_SUCCESSFUL) // ACTN
	285	{
	286	status = rtems_task_create(
	287	Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
	288	RTEMS_DEFAULT_MODES,
	289	RTEMS_DEFAULT_ATTRIBUTES \| RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
	290	);
	291	}
	292	if (status == RTEMS_SUCCESSFUL) // SPIQ
	293	{
	294	status = rtems_task_create(
	295	Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
	296	RTEMS_DEFAULT_MODES \| RTEMS_NO_PREEMPT,
	297	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
	298	);
	299	}
	300
	301	//*****
	302	// MISC
	303	if (status == RTEMS_SUCCESSFUL) // STAT
	304	{
	305	status = rtems_task_create(
	306	Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
	307	RTEMS_DEFAULT_MODES,
	308	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
	309	);
	310	}
	311	if (status == RTEMS_SUCCESSFUL) // DUMB
	312	{
	313	status = rtems_task_create(
	314	Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
	315	RTEMS_DEFAULT_MODES,
	316	RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
	317	);
	318	}
	319	if (status == RTEMS_SUCCESSFUL) // UPDT
	320	{
	321	status = rtems_task_create(
	322	rtems_name_updt, TASK_PRIORITY_UPDT, RTEMS_MINIMUM_STACK_SIZE,
	323	RTEMS_DEFAULT_MODES,
	324	RTEMS_DEFAULT_ATTRIBUTES, &rtems_id_updt
	325	);
	326	}
	327
	328	return status;
	329	}
	330
	331	int start_recv_send_tasks( void )
	332	{
	333	rtems_status_code status;
	334
	335	status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
	336	if (status!=RTEMS_SUCCESSFUL) {
	337	BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
	338	}
	339
	340	if (status == RTEMS_SUCCESSFUL) // SEND
	341	{
	342	status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
	343	if (status!=RTEMS_SUCCESSFUL) {
	344	BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
	345	}
	346	}
	347
	348	return status;
	349	}
	350
	351	int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
	352	{
	353	/** This function starts all RTEMS tasks used in the software.
	354	*
	355	* @return RTEMS directive status codes:
	356	* - RTEMS_SUCCESSFUL - ask started successfully
	357	* - RTEMS_INVALID_ADDRESS - invalid task entry point
	358	* - RTEMS_INVALID_ID - invalid task id
	359	* - RTEMS_INCORRECT_STATE - task not in the dormant state
	360	* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
	361	*
	362	*/
	363	// starts all the tasks fot eh flight software
	364
	365	rtems_status_code status;
	366
	367	//**********
	368	// SPACEWIRE
	369	status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
	370	if (status!=RTEMS_SUCCESSFUL) {
	371	BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
	372	}
	373
	374	if (status == RTEMS_SUCCESSFUL) // WTDG
	375	{
	376	status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
	377	if (status!=RTEMS_SUCCESSFUL) {
	378	BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
	379	}
	380	}
	381
	382	if (status == RTEMS_SUCCESSFUL) // ACTN
	383	{
	384	status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
	385	if (status!=RTEMS_SUCCESSFUL) {
	386	BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
	387	}
	388	}
	389
	390	//*****
	391	// MISC
	392	if (status == RTEMS_SUCCESSFUL) // DUMB
	393	{
	394	status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
	395	if (status!=RTEMS_SUCCESSFUL) {
	396	BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
	397	}
	398	}
	399
	400	if (status == RTEMS_SUCCESSFUL) // STAT
	401	{
	402	status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
	403	if (status!=RTEMS_SUCCESSFUL) {
	404	BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
	405	}
	406	}
	407
	408	if (status == RTEMS_SUCCESSFUL) // UPDT
	409	{
	410	status = rtems_task_start( rtems_id_updt, updt_task, 1 );
	411	if (status!=RTEMS_SUCCESSFUL) {
	412	BOOT_PRINTF("in INIT *** Error starting TASK_UPDT\n")
	413	}
	414	}
	415
	416	return status;
	417	}
	418
	419	rtems_status_code create_message_queues( void ) // create the two message queues used in the software
	420	{
	421	rtems_status_code status_recv;
	422	rtems_status_code status_send;
	423	rtems_status_code ret;
	424	rtems_id queue_id;
	425
	426	// create the queue for handling valid TCs
	427	status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
	428	ACTION_MSG_QUEUE_COUNT, CCSDS_TC_PKT_MAX_SIZE,
	429	RTEMS_FIFO \| RTEMS_LOCAL, &queue_id );
	430	if ( status_recv != RTEMS_SUCCESSFUL ) {
	431	PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
	432	}
	433
	434	// create the queue for handling TM packet sending
	435	status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
	436	ACTION_MSG_PKTS_COUNT, ACTION_MSG_PKTS_MAX_SIZE,
	437	RTEMS_FIFO \| RTEMS_LOCAL, &queue_id );
	438	if ( status_send != RTEMS_SUCCESSFUL ) {
	439	PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
	440	}
	441
	442	if ( status_recv != RTEMS_SUCCESSFUL )
	443	{
	444	ret = status_recv;
	445	}
	446	else
	447	{
	448	ret = status_send;
	449	}
	450
	451	return ret;
	452	}
	453
	454	rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
	455	{
	456	rtems_status_code status;
	457	rtems_name queue_name;
	458
	459	queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
	460
	461	status = rtems_message_queue_ident( queue_name, 0, queue_id );
	462
	463	return status;
	464	}
	465
	466	rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
	467	{
	468	rtems_status_code status;
	469	rtems_name queue_name;
	470
	471	queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
	472
	473	status = rtems_message_queue_ident( queue_name, 0, queue_id );
	474
	475	return status;
	476	}

TimeGenerator-qt/src/timegen_misc.c created 644 +110 0

@@ -0,0 +1,110
	1	/** Functions and tasks related to TeleCommand handling.
	2	*
	3	* @file
	4	* @author P. LEROY
	5	*
	6	* A group of functions to handle TeleCommands:\n
	7	* action launching\n
	8	* TC parsing\n
	9	* ...
	10	*
	11	*/
	12
	13	#include "timegen_misc.h"
	14	#include <stdio.h>
	15
	16	void timegen_timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc )
	17	{
	18	struct grgpio_regs_str grgpio_regs = (struct grgpio_regs_str ) REGS_ADDR_GRGPIO;
	19
	20	grgpio_regs->io_port_direction_register =
	21	grgpio_regs->io_port_direction_register \| 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
	22
	23	if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
	24	{
	25	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
	26	}
	27	else
	28	{
	29	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register \| 0x08;
	30	}
	31
	32	rtems_event_send( rtems_id_updt, RTEMS_EVENT_0 );
	33	}
	34
	35	void initCoarseTime()
	36	{
	37	coarseTime = 0x00;
	38	}
	39
	40	rtems_task updt_task( rtems_task_argument unused )
	41	{
	42	rtems_event_set event_out;
	43	rtems_id send_queue_id;
	44
	45	get_message_queue_id_send( &send_queue_id );
	46
	47	BOOT_PRINTF("in UPDT *** waiting for SpaceWire ticks\n")
	48
	49	while(1)
	50	{
	51	// wait for an RTEMS_EVENT
	52	rtems_event_receive( RTEMS_EVENT_0,
	53	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
	54	// increment the coarse time
	55	coarseTime = coarseTime + 1;
	56	PRINTF2("next valid coarseTime = 0x%x *** %d s\n", coarseTime, coarseTime)
	57	rtems_task_wake_after(70); // 10 ms * 70 = 700 ms
	58	send_tc_lfr_update_time( send_queue_id );
	59	}
	60	}
	61
	62	int send_tc_lfr_update_time(rtems_id queue_id )
	63	{
	64
	65	rtems_status_code status;
	66	unsigned char messageSize;
	67
	68	Packet_TC_LFR_UPDATE_TIME_WITH_OVERHEAD_t packet;
	69	unsigned char crcAsTwoBytes[2];
	70
	71	// OVERHEAD
	72	packet.targetLogicalAddress = DESTINATION_ID_LFR;
	73	packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
	74	packet.reserved = DEFAULT_RESERVED;
	75	packet.userApplication = CCSDS_USER_APP;
	76
	77	// TIME PACKET
	78	packet.update_time.packetID[0] = (unsigned char) (TC_LFR_PACKET_ID >> 8);
	79	packet.update_time.packetID[1] = (unsigned char) (TC_LFR_PACKET_ID );
	80	packet.update_time.packetSequenceControl[0] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL >> 8);
	81	packet.update_time.packetSequenceControl[1] = (unsigned char) (TC_LFR_PACKET_SEQUENCE_CONTROL );
	82	packet.update_time.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME >> 8);
	83	packet.update_time.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_LFR_UPDATE_TIME );
	84
	85	packet.update_time.ccsdsSecHeaderFlag_pusVersion_ack = 0x19;
	86	packet.update_time.serviceType = TC_TYPE_LFR_UPDATE_TIME;
	87	packet.update_time.serviceSubType = TC_SUBTYPE_UPDATE_TIME;
	88	packet.update_time.sourceID = SID_TC_RPW_INTERNAL;
	89	packet.update_time.cp_rpw_time[0] = (unsigned char) (coarseTime >> 24);
	90	packet.update_time.cp_rpw_time[1] = (unsigned char) (coarseTime >> 16);
	91	packet.update_time.cp_rpw_time[2] = (unsigned char) (coarseTime >> 8);
	92	packet.update_time.cp_rpw_time[3] = (unsigned char) (coarseTime);
	93	packet.update_time.cp_rpw_time[4] = 0; // fine time MSB
	94	packet.update_time.cp_rpw_time[5] = 0; // fine time LSB
	95
	96	GetCRCAsTwoBytes((unsigned char*) &packet.update_time, crcAsTwoBytes,
	97	PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET - 2);
	98	packet.update_time.crc[0] = crcAsTwoBytes[0];
	99	packet.update_time.crc[1] = crcAsTwoBytes[1];
	100
	101	messageSize = PACKET_LENGTH_TC_LFR_UPDATE_TIME + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
	102
	103	// SEND DATA
	104	status = rtems_message_queue_send( queue_id, &packet, messageSize);
	105	if (status != RTEMS_SUCCESSFUL) {
	106	PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
	107	}
	108
	109	return status;
	110	}

TimeGenerator-qt/src/timegen_spacewire.c created 644 +601 0

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	@@ -0,0 +1,601
		1	/** Functions related to the SpaceWire interface.
		2	*
		3	* @file
		4	* @author P. LEROY
		5	*
		6	* A group of functions to handle SpaceWire transmissions:
		7	* - configuration of the SpaceWire link
		8	* - SpaceWire related interruption requests processing
		9	* - transmission of TeleMetry packets by a dedicated RTEMS task
		10	* - reception of TeleCommands by a dedicated RTEMS task
		11	*
		12	*/
		13
		14	#include "timegen_spacewire.h"
		15
		16	rtems_name semq_name;
		17	rtems_id semq_id;
		18
		19	//***********
		20	// RTEMS TASK
		21	rtems_task spiq_task(rtems_task_argument unused)
		22	{
		23	/** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
		24	*
		25	* @param unused is the starting argument of the RTEMS task
		26	*
		27	*/
		28
		29	rtems_event_set event_out;
		30	rtems_status_code status;
		31	int linkStatus;
		32
		33	BOOT_PRINTF("in SPIQ *** \n")
		34
		35	while(true){
		36	rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
		37	PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
		38
		39	// [0] SUSPEND RECV AND SEND TASKS
		40	status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
		41	if ( status != RTEMS_SUCCESSFUL ) {
		42	PRINTF("in SPIQ *** ERR suspending RECV Task\n")
		43	}
		44	status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
		45	if ( status != RTEMS_SUCCESSFUL ) {
		46	PRINTF("in SPIQ *** ERR suspending SEND Task\n")
		47	}
		48
		49	// [1] CHECK THE LINK
		50	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (1)
		51	if ( linkStatus != 5) {
		52	PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
		53	status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT ); // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
		54	}
		55
		56	// [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
		57	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status (2)
		58	if ( linkStatus != 5 ) // [2.a] not in run state, reset the link
		59	{
		60	spacewire_compute_stats_offsets();
		61	status = spacewire_reset_link( );
		62	}
		63	else // [2.b] in run state, start the link
		64	{
		65	status = spacewire_stop_start_link( fdSPW ); // start the link
		66	if ( status != RTEMS_SUCCESSFUL)
		67	{
		68	PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
		69	}
		70	}
		71
		72	// [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
		73	if ( status == RTEMS_SUCCESSFUL ) // [3.a] the link is in run state and has been started successfully
		74	{
		75	status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
		76	if ( status != RTEMS_SUCCESSFUL ) {
		77	PRINTF("in SPIQ *** ERR resuming SEND Task\n")
		78	}
		79	status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
		80	if ( status != RTEMS_SUCCESSFUL ) {
		81	PRINTF("in SPIQ *** ERR resuming RECV Task\n")
		82	}
		83	}
		84	else // [3.b] the link is not in run state, go in STANDBY mode
		85	{
		86	status = stop_current_mode();
		87	if ( status != RTEMS_SUCCESSFUL ) {
		88	PRINTF1("in SPIQ * ERR stop_current_mode * code %d\n", status)
		89	}
		90	status = enter_mode( LFR_MODE_STANDBY );
		91	if ( status != RTEMS_SUCCESSFUL ) {
		92	PRINTF1("in SPIQ * ERR enter_standby_mode * code %d\n", status)
		93	}
		94	// wake the WTDG task up to wait for the link recovery
		95	status = rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
		96	status = rtems_task_suspend( RTEMS_SELF );
		97	}
		98	}
		99	}
		100
		101	rtems_task recv_task( rtems_task_argument unused )
		102	{
		103	/** This RTEMS task is dedicated to the reception of incoming TeleCommands.
		104	*
		105	* @param unused is the starting argument of the RTEMS task
		106	*
		107	* The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
		108	* 1. It reads the incoming data.
		109	* 2. Launches the acceptance procedure.
		110	* 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
		111	*
		112	*/
		113
		114	int len;
		115	ccsdsTelecommandPacket_t currentTC;
		116	unsigned char computed_CRC[ 2 ];
		117	unsigned char currentTC_LEN_RCV[ 2 ];
		118	unsigned char destinationID;
		119	unsigned int currentTC_LEN_RCV_AsUnsignedInt;
		120	unsigned int parserCode;
		121	unsigned char time[6];
		122	rtems_status_code status;
		123	rtems_id queue_recv_id;
		124	rtems_id queue_send_id;
		125
		126	initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
		127
		128	status = get_message_queue_id_recv( &queue_recv_id );
		129	if (status != RTEMS_SUCCESSFUL)
		130	{
		131	PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
		132	}
		133
		134	status = get_message_queue_id_send( &queue_send_id );
		135	if (status != RTEMS_SUCCESSFUL)
		136	{
		137	PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
		138	}
		139
		140	BOOT_PRINTF("in RECV *** \n")
		141
		142	while(1)
		143	{
		144	len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
		145	if (len == -1){ // error during the read call
		146	PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
		147	}
		148	else {
		149	if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
		150	PRINTF("in RECV *** packet lenght too short\n")
		151	}
		152	else {
		153	currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
		154	currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
		155	currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt );
		156	// CHECK THE TC
		157	parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
		158	if ( (parserCode == ILLEGAL_APID) \|\| (parserCode == WRONG_LEN_PKT)
		159	\|\| (parserCode == INCOR_CHECKSUM) \|\| (parserCode == ILL_TYPE)
		160	\|\| (parserCode == ILL_SUBTYPE) \|\| (parserCode == WRONG_APP_DATA)
		161	\|\| (parserCode == WRONG_SRC_ID) )
		162	{ // send TM_LFR_TC_EXE_CORRUPTED
		163	if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
		164	&&
		165	!( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
		166	)
		167	{
		168	if ( parserCode == WRONG_SRC_ID )
		169	{
		170	destinationID = SID_TC_GROUND;
		171	}
		172	else
		173	{
		174	destinationID = currentTC.sourceID;
		175	}
		176	getTime( time );
		177	close_action( &currentTC, LFR_DEFAULT, queue_send_id );
		178	send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
		179	computed_CRC, currentTC_LEN_RCV,
		180	destinationID );
		181	}
		182	}
		183	else
		184	{ // send valid TC to the action launcher
		185	status = rtems_message_queue_send( queue_recv_id, &currentTC,
		186	currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
		187	}
		188	}
		189	}
		190	}
		191	}
		192
		193	rtems_task send_task( rtems_task_argument argument)
		194	{
		195	/** This RTEMS task is dedicated to the transmission of TeleMetry packets.
		196	*
		197	* @param unused is the starting argument of the RTEMS task
		198	*
		199	* The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
		200	* - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
		201	* - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
		202	* analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
		203	* data it contains.
		204	*
		205	*/
		206
		207	rtems_status_code status; // RTEMS status code
		208	char incomingData[ACTION_MSG_PKTS_MAX_SIZE]; // incoming data buffer
		209	size_t size; // size of the incoming TC packet
		210	u_int32_t count;
		211	rtems_id queue_id;
		212
		213	status = get_message_queue_id_send( &queue_id );
		214	if (status != RTEMS_SUCCESSFUL)
		215	{
		216	PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
		217	}
		218
		219	BOOT_PRINTF("in SEND *** \n")
		220
		221	while(1)
		222	{
		223	status = rtems_message_queue_receive( queue_id, incomingData, &size,
		224	RTEMS_WAIT, RTEMS_NO_TIMEOUT );
		225
		226	if (status!=RTEMS_SUCCESSFUL)
		227	{
		228	PRINTF1("in SEND *** (1) ERR = %d\n", status)
		229	}
		230	else
		231	{
		232	status = write( fdSPW, incomingData, size );
		233	if (status == -1){
		234	PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
		235	}
		236	}
		237
		238	status = rtems_message_queue_get_number_pending( queue_id, &count );
		239	if (status != RTEMS_SUCCESSFUL)
		240	{
		241	PRINTF1("in SEND *** (3) ERR = %d\n", status)
		242	}
		243	else
		244	{
		245	if (count > maxCount)
		246	{
		247	maxCount = count;
		248	}
		249	}
		250	}
		251	}
		252
		253	rtems_task wtdg_task( rtems_task_argument argument )
		254	{
		255	rtems_event_set event_out;
		256	rtems_status_code status;
		257	int linkStatus;
		258
		259	BOOT_PRINTF("in WTDG ***\n")
		260
		261	while(1)
		262	{
		263	// wait for an RTEMS_EVENT
		264	rtems_event_receive( RTEMS_EVENT_0,
		265	RTEMS_WAIT \| RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
		266	PRINTF("in WTDG *** wait for the link\n")
		267	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
		268	while( linkStatus != 5) // wait for the link
		269	{
		270	rtems_task_wake_after( 10 );
		271	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
		272	}
		273
		274	status = spacewire_stop_start_link( fdSPW );
		275
		276	if (status != RTEMS_SUCCESSFUL)
		277	{
		278	PRINTF1("in WTDG *** ERR link not started %d\n", status)
		279	}
		280	else
		281	{
		282	PRINTF("in WTDG *** OK link started\n")
		283	}
		284
		285	// restart the SPIQ task
		286	status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
		287	if ( status != RTEMS_SUCCESSFUL ) {
		288	PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
		289	}
		290
		291	// restart RECV and SEND
		292	status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
		293	if ( status != RTEMS_SUCCESSFUL ) {
		294	PRINTF("in SPIQ *** ERR restarting SEND Task\n")
		295	}
		296	status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
		297	if ( status != RTEMS_SUCCESSFUL ) {
		298	PRINTF("in SPIQ *** ERR restarting RECV Task\n")
		299	}
		300	}
		301	}
		302
		303	//****************
		304	// OTHER FUNCTIONS
		305	int spacewire_open_link( void )
		306	{
		307	/** This function opens the SpaceWire link.
		308	*
		309	* @return a valid file descriptor in case of success, -1 in case of a failure
		310	*
		311	*/
		312	rtems_status_code status;
		313
		314	fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
		315	if ( fdSPW < 0 ) {
		316	PRINTF1("ERR * in configure_spw_link * error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
		317	}
		318	else
		319	{
		320	status = RTEMS_SUCCESSFUL;
		321	}
		322
		323	return status;
		324	}
		325
		326	int spacewire_start_link( int fd )
		327	{
		328	rtems_status_code status;
		329
		330	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
		331	// -1 default hardcoded driver timeout
		332
		333	return status;
		334	}
		335
		336	int spacewire_stop_start_link( int fd )
		337	{
		338	rtems_status_code status;
		339
		340	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP); // start fails if link pDev->running != 0
		341	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
		342	// -1 default hardcoded driver timeout
		343
		344	return status;
		345	}
		346
		347	int spacewire_configure_link( int fd )
		348	{
		349	/** This function configures the SpaceWire link.
		350	*
		351	* @return GR-RTEMS-DRIVER directive status codes:
		352	* - 22 EINVAL - Null pointer or an out of range value was given as the argument.
		353	* - 16 EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
		354	* - 88 ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
		355	* - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
		356	* - 12 ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
		357	* - 5 EIO - Error when writing to grswp hardware registers.
		358	* - 2 ENOENT - No such file or directory
		359	*/
		360
		361	rtems_status_code status;
		362
		363	spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
		364	spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to break the no port force configuration
		365
		366	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1); // sets the blocking mode for reception
		367	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
		368	//
		369	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
		370	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
		371	//
		372	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0); // automatic link-disabling due to link-error interrupts
		373	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
		374	//
		375	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1); // sets the link-error interrupt bit
		376	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
		377	//
		378	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0); // transmission blocks
		379	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
		380	//
		381	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1); // transmission blocks when no transmission descriptor is available
		382	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
		383	//
		384	status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
		385	if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL\n")
		386
		387	return status;
		388	}
		389
		390	int spacewire_reset_link( void )
		391	{
		392	/** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
		393	*
		394	* @return RTEMS directive status code:
		395	* - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
		396	* - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
		397	*
		398	*/
		399
		400	rtems_status_code status_spw;
		401	int i;
		402
		403	for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
		404	{
		405	PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
		406
		407	// CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
		408
		409	status_spw = spacewire_stop_start_link( fdSPW );
		410	if ( status_spw != RTEMS_SUCCESSFUL )
		411	{
		412	PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n", status_spw)
		413	}
		414
		415	if ( status_spw == RTEMS_SUCCESSFUL)
		416	{
		417	break;
		418	}
		419	}
		420
		421	return status_spw;
		422	}
		423
		424	void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
		425	{
		426	/** This function sets the [N]o [P]ort force bit of the GRSPW control register.
		427	*
		428	* @param val is the value, 0 or 1, used to set the value of the NP bit.
		429	* @param regAddr is the address of the GRSPW control register.
		430	*
		431	* NP is the bit 20 of the GRSPW control register.
		432	*
		433	*/
		434
		435	unsigned int spwptr = (unsigned int) regAddr;
		436
		437	if (val == 1) {
		438	spwptr = spwptr \| 0x00100000; // [NP] set the No port force bit
		439	}
		440	if (val== 0) {
		441	spwptr = spwptr & 0xffdfffff;
		442	}
		443	}
		444
		445	void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
		446	{
		447	/** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
		448	*
		449	* @param val is the value, 0 or 1, used to set the value of the RE bit.
		450	* @param regAddr is the address of the GRSPW control register.
		451	*
		452	* RE is the bit 16 of the GRSPW control register.
		453	*
		454	*/
		455
		456	unsigned int spwptr = (unsigned int) regAddr;
		457
		458	if (val == 1)
		459	{
		460	spwptr = spwptr \| 0x00010000; // [RE] set the RMAP Enable bit
		461	}
		462	if (val== 0)
		463	{
		464	spwptr = spwptr & 0xfffdffff;
		465	}
		466	}
		467
		468	void spacewire_compute_stats_offsets( void )
		469	{
		470	/** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
		471	*
		472	* The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
		473	* to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
		474	* during the open systel call).
		475	*
		476	*/
		477
		478	spw_stats spacewire_stats_grspw;
		479	rtems_status_code status;
		480
		481	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
		482
		483	spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
		484	+ spacewire_stats.packets_received;
		485	spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
		486	+ spacewire_stats.packets_sent;
		487	spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
		488	+ spacewire_stats.parity_err;
		489	spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
		490	+ spacewire_stats.disconnect_err;
		491	spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
		492	+ spacewire_stats.escape_err;
		493	spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
		494	+ spacewire_stats.credit_err;
		495	spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
		496	+ spacewire_stats.write_sync_err;
		497	spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
		498	+ spacewire_stats.rx_rmap_header_crc_err;
		499	spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
		500	+ spacewire_stats.rx_rmap_data_crc_err;
		501	spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
		502	+ spacewire_stats.early_ep;
		503	spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
		504	+ spacewire_stats.invalid_address;
		505	spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
		506	+ spacewire_stats.rx_eep_err;
		507	spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
		508	+ spacewire_stats.rx_truncated;
		509	}
		510
		511	void spacewire_update_statistics( void )
		512	{
		513	rtems_status_code status;
		514	spw_stats spacewire_stats_grspw;
		515
		516	status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
		517
		518	spacewire_stats.packets_received = spacewire_stats_backup.packets_received
		519	+ spacewire_stats_grspw.packets_received;
		520	spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
		521	+ spacewire_stats_grspw.packets_sent;
		522	spacewire_stats.parity_err = spacewire_stats_backup.parity_err
		523	+ spacewire_stats_grspw.parity_err;
		524	spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
		525	+ spacewire_stats_grspw.disconnect_err;
		526	spacewire_stats.escape_err = spacewire_stats_backup.escape_err
		527	+ spacewire_stats_grspw.escape_err;
		528	spacewire_stats.credit_err = spacewire_stats_backup.credit_err
		529	+ spacewire_stats_grspw.credit_err;
		530	spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
		531	+ spacewire_stats_grspw.write_sync_err;
		532	spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
		533	+ spacewire_stats_grspw.rx_rmap_header_crc_err;
		534	spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
		535	+ spacewire_stats_grspw.rx_rmap_data_crc_err;
		536	spacewire_stats.early_ep = spacewire_stats_backup.early_ep
		537	+ spacewire_stats_grspw.early_ep;
		538	spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
		539	+ spacewire_stats_grspw.invalid_address;
		540	spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
		541	+ spacewire_stats_grspw.rx_eep_err;
		542	spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
		543	+ spacewire_stats_grspw.rx_truncated;
		544	//spacewire_stats.tx_link_err;
		545
		546	//****************************
		547	// DPU_SPACEWIRE_IF_STATISTICS
		548	housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
		549	housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
		550	housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
		551	housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
		552	//housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
		553	//housekeeping_packet.hk_lfr_dpu_spw_last_timc;
		554
		555	//******************************************
		556	// ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
		557	housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
		558	housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
		559	housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
		560	housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
		561	housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
		562
		563	//*********************************************
		564	// ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
		565	housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
		566	housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
		567	housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
		568	housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
		569	}
		570
		571	void timecode_irq_handler( void pDev, void regs, int minor, unsigned int tc )
		572	{
		573	// rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 );
		574	struct grgpio_regs_str grgpio_regs = (struct grgpio_regs_str ) REGS_ADDR_GRGPIO;
		575
		576	grgpio_regs->io_port_direction_register =
		577	grgpio_regs->io_port_direction_register \| 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
		578
		579	if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
		580	{
		581	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
		582	}
		583	else
		584	{
		585	grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register \| 0x08;
		586	}
		587
		588	}
		589
		590	rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
		591	{
		592	int linkStatus;
		593	rtems_status_code status;
		594
		595	status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus); // get the link status
		596
		597	if ( linkStatus == 5) {
		598	PRINTF("in spacewire_reset_link *** link is running\n")
		599	status = RTEMS_SUCCESSFUL;
		600	}
		601	}

TimeGenerator-qt/src/timegen_tc_handler.c created 644 +793 0

This diff has been collapsed as it changes many lines, (793 lines changed) Show them Hide them
	@@ -0,0 +1,793
		1	/** Functions and tasks related to TeleCommand handling.
		2	*
		3	* @file
		4	* @author P. LEROY
		5	*
		6	* A group of functions to handle TeleCommands:\n
		7	* action launching\n
		8	* TC parsing\n
		9	* ...
		10	*
		11	*/
		12
		13	#include "timegen_tc_handler.h"
		14
		15	//***********
		16	// RTEMS TASK
		17
		18	rtems_task actn_task( rtems_task_argument unused )
		19	{
		20	/** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
		21	*
		22	* @param unused is the starting argument of the RTEMS task
		23	*
		24	* The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
		25	* on the incoming TeleCommand.
		26	*
		27	*/
		28
		29	int result;
		30	rtems_status_code status; // RTEMS status code
		31	ccsdsTelecommandPacket_t TC; // TC sent to the ACTN task
		32	size_t size; // size of the incoming TC packet
		33	unsigned char subtype; // subtype of the current TC packet
		34	unsigned char time[6];
		35	rtems_id queue_rcv_id;
		36	rtems_id queue_snd_id;
		37
		38	status = get_message_queue_id_recv( &queue_rcv_id );
		39	if (status != RTEMS_SUCCESSFUL)
		40	{
		41	PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
		42	}
		43
		44	status = get_message_queue_id_send( &queue_snd_id );
		45	if (status != RTEMS_SUCCESSFUL)
		46	{
		47	PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
		48	}
		49
		50	result = LFR_SUCCESSFUL;
		51	subtype = 0; // subtype of the current TC packet
		52
		53	BOOT_PRINTF("in ACTN *** \n")
		54
		55	while(1)
		56	{
		57	status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
		58	RTEMS_WAIT, RTEMS_NO_TIMEOUT);
		59	getTime( time ); // set time to the current time
		60	if (status!=RTEMS_SUCCESSFUL)
		61	{
		62	PRINTF1("ERR * in task ACTN * error receiving a message, code %d \n", status)
		63	}
		64	else
		65	{
		66	subtype = TC.serviceSubType;
		67	switch(subtype)
		68	{
		69	case TC_SUBTYPE_RESET:
		70	// result = action_reset( &TC, queue_snd_id, time );
		71	close_action( &TC, result, queue_snd_id );
		72	break;
		73	//
		74	case TC_SUBTYPE_LOAD_COMM:
		75	// result = action_load_common_par( &TC );
		76	close_action( &TC, result, queue_snd_id );
		77	break;
		78	//
		79	case TC_SUBTYPE_LOAD_NORM:
		80	// result = action_load_normal_par( &TC, queue_snd_id, time );
		81	close_action( &TC, result, queue_snd_id );
		82	break;
		83	//
		84	case TC_SUBTYPE_LOAD_BURST:
		85	// result = action_load_burst_par( &TC, queue_snd_id, time );
		86	close_action( &TC, result, queue_snd_id );
		87	break;
		88	//
		89	case TC_SUBTYPE_LOAD_SBM1:
		90	// result = action_load_sbm1_par( &TC, queue_snd_id, time );
		91	close_action( &TC, result, queue_snd_id );
		92	break;
		93	//
		94	case TC_SUBTYPE_LOAD_SBM2:
		95	// result = action_load_sbm2_par( &TC, queue_snd_id, time );
		96	close_action( &TC, result, queue_snd_id );
		97	break;
		98	//
		99	case TC_SUBTYPE_DUMP:
		100	// result = action_dump_par( queue_snd_id );
		101	close_action( &TC, result, queue_snd_id );
		102	break;
		103	//
		104	case TC_SUBTYPE_ENTER:
		105	result = action_enter_mode( &TC, queue_snd_id, time );
		106	close_action( &TC, result, queue_snd_id );
		107	break;
		108	//
		109	case TC_SUBTYPE_UPDT_INFO:
		110	// result = action_update_info( &TC, queue_snd_id );
		111	close_action( &TC, result, queue_snd_id );
		112	break;
		113	//
		114	case TC_SUBTYPE_EN_CAL:
		115	// result = action_enable_calibration( &TC, queue_snd_id, time );
		116	close_action( &TC, result, queue_snd_id );
		117	break;
		118	//
		119	case TC_SUBTYPE_DIS_CAL:
		120	// result = action_disable_calibration( &TC, queue_snd_id, time );
		121	close_action( &TC, result, queue_snd_id );
		122	break;
		123	//
		124	case TC_SUBTYPE_UPDT_TIME:
		125	result = action_update_time( &TC );
		126	close_action( &TC, result, queue_snd_id );
		127	break;
		128	//
		129	default:
		130	break;
		131	}
		132	}
		133	}
		134	}
		135
		136	//***********
		137	// TC ACTIONS
		138
		139	int action_reset(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
		140	{
		141	/** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
		142	*
		143	* @param TC points to the TeleCommand packet that is being processed
		144	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
		145	*
		146	*/
		147
		148	send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
		149	return LFR_DEFAULT;
		150	}
		151
		152	int action_enter_mode(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
		153	{
		154	/** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
		155	*
		156	* @param TC points to the TeleCommand packet that is being processed
		157	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
		158	*
		159	*/
		160
		161	rtems_status_code status;
		162	unsigned char requestedMode;
		163
		164	requestedMode = TC->dataAndCRC[1];
		165
		166	if ( (requestedMode != LFR_MODE_STANDBY)
		167	&& (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
		168	&& (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
		169	{
		170	status = RTEMS_UNSATISFIED;
		171	send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
		172	}
		173	else
		174	{
		175	printf("in action_enter_mode *** enter mode %d\n", requestedMode);
		176
		177	status = transition_validation(requestedMode);
		178
		179	if ( status == LFR_SUCCESSFUL ) {
		180	if ( lfrCurrentMode != LFR_MODE_STANDBY)
		181	{
		182	status = stop_current_mode();
		183	}
		184	if (status != RTEMS_SUCCESSFUL)
		185	{
		186	PRINTF("ERR * in action_enter * stop_current_mode\n")
		187	}
		188	status = enter_mode( requestedMode );
		189	}
		190	else
		191	{
		192	PRINTF("ERR * in action_enter * transition rejected\n")
		193	send_tm_lfr_tc_exe_not_executable( TC, queue_id );
		194	}
		195	}
		196
		197	return status;
		198	}
		199
		200	int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
		201	{
		202	// /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
		203	// *
		204	// * @param TC points to the TeleCommand packet that is being processed
		205	// * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
		206	// *
		207	// * @return LFR directive status code:
		208	// * - LFR_DEFAULT
		209	// * - LFR_SUCCESSFUL
		210	// *
		211	// */
		212
		213	// unsigned int val;
		214	int result;
		215
		216	result = LFR_DEFAULT;
		217	// unsigned int status;
		218	// unsigned char mode;
		219
		220	// // check LFR MODE
		221	// mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET5 ] & 0x1e) >> 1;
		222	// status = check_update_info_hk_lfr_mode( mode );
		223	// if (status != LFR_DEFAULT) // check TDS mode
		224	// {
		225	// mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0xf0) >> 4;
		226	// status = check_update_info_hk_tds_mode( mode );
		227	// }
		228	// if (status != LFR_DEFAULT) // check THR mode
		229	// {
		230	// mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0x0f);
		231	// status = check_update_info_hk_thr_mode( mode );
		232	// }
		233	// if (status != LFR_DEFAULT) // if the parameter check is successful
		234	// {
		235	// val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
		236	// + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
		237	// val++;
		238	// housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
		239	// housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
		240	// }
		241
		242	// result = status;
		243
		244	return result;
		245	}
		246
		247	int action_enable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
		248	{
		249	/** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
		250	*
		251	* @param TC points to the TeleCommand packet that is being processed
		252	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
		253	*
		254	*/
		255
		256	int result;
		257	unsigned char lfrMode;
		258
		259	result = LFR_DEFAULT;
		260	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
		261
		262	send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
		263	result = LFR_DEFAULT;
		264
		265	return result;
		266	}
		267
		268	int action_disable_calibration(ccsdsTelecommandPacket_t TC, rtems_id queue_id, unsigned char time)
		269	{
		270	/** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
		271	*
		272	* @param TC points to the TeleCommand packet that is being processed
		273	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
		274	*
		275	*/
		276
		277	int result;
		278	unsigned char lfrMode;
		279
		280	result = LFR_DEFAULT;
		281	lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
		282
		283	send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
		284	result = LFR_DEFAULT;
		285
		286	return result;
		287	}
		288
		289	int action_update_time(ccsdsTelecommandPacket_t *TC)
		290	{
		291	/** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
		292	*
		293	* @param TC points to the TeleCommand packet that is being processed
		294	* @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
		295	*
		296	* @return LFR_SUCCESSFUL
		297	*
		298	*/
		299
		300	unsigned int val;
		301
		302	time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
		303	+ (TC->dataAndCRC[1] << 16)
		304	+ (TC->dataAndCRC[2] << 8)
		305	+ TC->dataAndCRC[3];
		306	val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
		307	+ housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
		308	val++;
		309	housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
		310	housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
		311	// time_management_regs->ctrl = time_management_regs->ctrl \| 1; // force tick
		312
		313	return LFR_SUCCESSFUL;
		314	}
		315
		316	//*******************
		317	// ENTERING THE MODES
		318
		319	int transition_validation(unsigned char requestedMode)
		320	{
		321	/** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
		322	*
		323	* @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
		324	*
		325	* @return LFR directive status codes:
		326	* - LFR_SUCCESSFUL - the transition is authorized
		327	* - LFR_DEFAULT - the transition is not authorized
		328	*
		329	*/
		330
		331	int status;
		332
		333	switch (requestedMode)
		334	{
		335	case LFR_MODE_STANDBY:
		336	if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
		337	status = LFR_DEFAULT;
		338	}
		339	else
		340	{
		341	status = LFR_SUCCESSFUL;
		342	}
		343	break;
		344	case LFR_MODE_NORMAL:
		345	if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
		346	status = LFR_DEFAULT;
		347	}
		348	else {
		349	status = LFR_SUCCESSFUL;
		350	}
		351	break;
		352	case LFR_MODE_BURST:
		353	if ( lfrCurrentMode == LFR_MODE_BURST ) {
		354	status = LFR_DEFAULT;
		355	}
		356	else {
		357	status = LFR_SUCCESSFUL;
		358	}
		359	break;
		360	case LFR_MODE_SBM1:
		361	if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
		362	status = LFR_DEFAULT;
		363	}
		364	else {
		365	status = LFR_SUCCESSFUL;
		366	}
		367	break;
		368	case LFR_MODE_SBM2:
		369	if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
		370	status = LFR_DEFAULT;
		371	}
		372	else {
		373	status = LFR_SUCCESSFUL;
		374	}
		375	break;
		376	default:
		377	status = LFR_DEFAULT;
		378	break;
		379	}
		380
		381	return status;
		382	}
		383
		384	int stop_current_mode(void)
		385	{
		386	/** This function stops the current mode by masking interrupt lines and suspending science tasks.
		387	*
		388	* @return RTEMS directive status codes:
		389	* - RTEMS_SUCCESSFUL - task restarted successfully
		390	* - RTEMS_INVALID_ID - task id invalid
		391	* - RTEMS_ALREADY_SUSPENDED - task already suspended
		392	*
		393	*/
		394
		395	rtems_status_code status;
		396
		397	status = RTEMS_SUCCESSFUL;
		398
		399	// (1) mask interruptions
		400	LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER ); // mask waveform picker interrupt
		401	LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt
		402
		403	// (2) clear interruptions
		404	LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER ); // clear waveform picker interrupt
		405	LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX ); // clear spectral matrix interrupt
		406
		407	// (3) reset registers
		408	// waveform picker
		409	// reset_wfp_burst_enable(); // reset burst and enable bits
		410	// reset_wfp_status(); // reset all the status bits
		411	// spectral matrices
		412	set_irq_on_new_ready_matrix( 0 ); // stop the spectral matrices
		413	set_run_matrix_spectral( 0 ); // run_matrix_spectral is set to 0
		414	// reset_extractSWF(); // reset the extractSWF flag to false
		415
		416	// <Spectral Matrices simulator>
		417	LEON_Mask_interrupt( IRQ_SM_SIMULATOR ); // mask spectral matrix interrupt simulator
		418	timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
		419	LEON_Clear_interrupt( IRQ_SM_SIMULATOR ); // clear spectral matrix interrupt simulator
		420	// </Spectral Matrices simulator>
		421
		422	// suspend several tasks
		423	if (lfrCurrentMode != LFR_MODE_STANDBY) {
		424	status = suspend_science_tasks();
		425	}
		426
		427	if (status != RTEMS_SUCCESSFUL)
		428	{
		429	PRINTF1("in stop_current_mode * in suspend_science_tasks * ERR code: %d\n", status)
		430	}
		431
		432	return status;
		433	}
		434
		435	int enter_mode(unsigned char mode )
		436	{
		437	/** This function is launched after a mode transition validation.
		438	*
		439	* @param mode is the mode in which LFR will be put.
		440	*
		441	* @return RTEMS directive status codes:
		442	* - RTEMS_SUCCESSFUL - the mode has been entered successfully
		443	* - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
		444	*
		445	*/
		446
		447	rtems_status_code status;
		448
		449	status = RTEMS_UNSATISFIED;
		450
		451	housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
		452	updateLFRCurrentMode();
		453
		454	if ( (mode == LFR_MODE_NORMAL) \|\| (mode == LFR_MODE_BURST)
		455	\|\| (mode == LFR_MODE_SBM1) \|\| (mode == LFR_MODE_SBM2) )
		456	{
		457	#ifdef PRINT_TASK_STATISTICS
		458	rtems_cpu_usage_reset();
		459	maxCount = 0;
		460	#endif
		461	status = restart_science_tasks();
		462	// launch_waveform_picker( mode );
		463	// launch_spectral_matrix( mode );
		464	}
		465	else if ( mode == LFR_MODE_STANDBY )
		466	{
		467	#ifdef PRINT_TASK_STATISTICS
		468	rtems_cpu_usage_report();
		469	#endif
		470
		471	#ifdef PRINT_STACK_REPORT
		472	rtems_stack_checker_report_usage();
		473	#endif
		474	status = stop_current_mode();
		475	PRINTF1("maxCount = %d\n", maxCount)
		476	}
		477	else
		478	{
		479	status = RTEMS_UNSATISFIED;
		480	}
		481
		482	if (status != RTEMS_SUCCESSFUL)
		483	{
		484	PRINTF1("in enter_mode *** ERR = %d\n", status)
		485	status = RTEMS_UNSATISFIED;
		486	}
		487
		488	return status;
		489	}
		490
		491	int restart_science_tasks()
		492	{
		493	/** This function is used to restart all science tasks.
		494	*
		495	* @return RTEMS directive status codes:
		496	* - RTEMS_SUCCESSFUL - task restarted successfully
		497	* - RTEMS_INVALID_ID - task id invalid
		498	* - RTEMS_INCORRECT_STATE - task never started
		499	* - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
		500	*
		501	* Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1
		502	*
		503	*/
		504
		505	rtems_status_code status[6];
		506	rtems_status_code ret;
		507
		508	ret = RTEMS_SUCCESSFUL;
		509
		510	status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
		511	if (status[0] != RTEMS_SUCCESSFUL)
		512	{
		513	PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
		514	}
		515
		516	status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
		517	if (status[2] != RTEMS_SUCCESSFUL)
		518	{
		519	PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
		520	}
		521
		522	status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
		523	if (status[3] != RTEMS_SUCCESSFUL)
		524	{
		525	PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
		526	}
		527
		528	status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
		529	if (status[4] != RTEMS_SUCCESSFUL)
		530	{
		531	PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
		532	}
		533
		534	status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
		535	if (status[5] != RTEMS_SUCCESSFUL)
		536	{
		537	PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
		538	}
		539
		540	if ( (status[0] != RTEMS_SUCCESSFUL) \|\| (status[2] != RTEMS_SUCCESSFUL) \|\|
		541	(status[3] != RTEMS_SUCCESSFUL) \|\| (status[4] != RTEMS_SUCCESSFUL) \|\| (status[5] != RTEMS_SUCCESSFUL) )
		542	{
		543	ret = RTEMS_UNSATISFIED;
		544	}
		545
		546	return ret;
		547	}
		548
		549	int suspend_science_tasks()
		550	{
		551	/** This function suspends the science tasks.
		552	*
		553	* @return RTEMS directive status codes:
		554	* - RTEMS_SUCCESSFUL - task restarted successfully
		555	* - RTEMS_INVALID_ID - task id invalid
		556	* - RTEMS_ALREADY_SUSPENDED - task already suspended
		557	*
		558	*/
		559
		560	rtems_status_code status;
		561
		562	status = rtems_task_suspend( Task_id[TASKID_AVF0] );
		563	if (status != RTEMS_SUCCESSFUL)
		564	{
		565	PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
		566	}
		567
		568	if (status == RTEMS_SUCCESSFUL) // suspend WFRM
		569	{
		570	status = rtems_task_suspend( Task_id[TASKID_WFRM] );
		571	if (status != RTEMS_SUCCESSFUL)
		572	{
		573	PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
		574	}
		575	}
		576
		577	if (status == RTEMS_SUCCESSFUL) // suspend CWF3
		578	{
		579	status = rtems_task_suspend( Task_id[TASKID_CWF3] );
		580	if (status != RTEMS_SUCCESSFUL)
		581	{
		582	PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
		583	}
		584	}
		585
		586	if (status == RTEMS_SUCCESSFUL) // suspend CWF2
		587	{
		588	status = rtems_task_suspend( Task_id[TASKID_CWF2] );
		589	if (status != RTEMS_SUCCESSFUL)
		590	{
		591	PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
		592	}
		593	}
		594
		595	if (status == RTEMS_SUCCESSFUL) // suspend CWF1
		596	{
		597	status = rtems_task_suspend( Task_id[TASKID_CWF1] );
		598	if (status != RTEMS_SUCCESSFUL)
		599	{
		600	PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
		601	}
		602	}
		603
		604	return status;
		605	}
		606
		607	void launch_waveform_picker( unsigned char mode )
		608	{
		609	// int startDate;
		610
		611	// reset_current_ring_nodes();
		612	// reset_waveform_picker_regs();
		613	// set_wfp_burst_enable_register( mode );
		614
		615	// LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
		616	// LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
		617
		618	// startDate = time_management_regs->coarse_time + 2;
		619	// waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable \| 0x80; // [1000 0000]
		620	// waveform_picker_regs->start_date = startDate;
		621	}
		622
		623	void launch_spectral_matrix( unsigned char mode )
		624	{
		625	// reset_nb_sm_f0();
		626	// reset_current_sm_ring_nodes();
		627	// reset_spectral_matrix_regs();
		628
		629	//#ifdef VHDL_DEV
		630	// set_irq_on_new_ready_matrix( 1 );
		631	// LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
		632	// LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
		633	// set_run_matrix_spectral( 1 );
		634	//#else
		635	// // Spectral Matrices simulator
		636	// timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
		637	// LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
		638	// LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
		639	//#endif
		640	}
		641
		642	void set_irq_on_new_ready_matrix( unsigned char value )
		643	{
		644	if (value == 1)
		645	{
		646	spectral_matrix_regs->config = spectral_matrix_regs->config \| 0x01;
		647	}
		648	else
		649	{
		650	spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe; // 1110
		651	}
		652	}
		653
		654	void set_run_matrix_spectral( unsigned char value )
		655	{
		656	if (value == 1)
		657	{
		658	spectral_matrix_regs->config = spectral_matrix_regs->config \| 0x4; // 0100 set run_matrix spectral to 1
		659	}
		660	else
		661	{
		662	spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb; // 1011 set run_matrix spectral to 0
		663	}
		664	}
		665
		666	void launch_spectral_matrix_simu( unsigned char mode )
		667	{
		668	// reset_nb_sm_f0();
		669	// reset_current_sm_ring_nodes();
		670	// reset_spectral_matrix_regs();
		671
		672	// // Spectral Matrices simulator
		673	// timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
		674	// LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
		675	// LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
		676	// set_local_nb_interrupt_f0_MAX();
		677	}
		678
		679	//****************
		680	// CLOSING ACTIONS
		681	void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
		682	{
		683	/** This function is used to update the HK packets statistics after a successful TC execution.
		684	*
		685	* @param TC points to the TC being processed
		686	* @param time is the time used to date the TC execution
		687	*
		688	*/
		689
		690	housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
		691	housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
		692	housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
		693	housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
		694	housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
		695	housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
		696	housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
		697	housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
		698	housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
		699	housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
		700	housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
		701	housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
		702	}
		703
		704	void update_last_TC_rej(ccsdsTelecommandPacket_t *TC )
		705	{
		706	/** This function is used to update the HK packets statistics after a TC rejection.
		707	*
		708	* @param TC points to the TC being processed
		709	* @param time is the time used to date the TC rejection
		710	*
		711	*/
		712
		713	housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
		714	housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
		715	housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
		716	housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
		717	housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
		718	housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
		719	housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
		720	housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
		721	housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
		722	housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
		723	housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
		724	housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
		725	}
		726
		727	void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
		728	{
		729	/** This function is the last step of the TC execution workflow.
		730	*
		731	* @param TC points to the TC being processed
		732	* @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
		733	* @param queue_id is the id of the RTEMS message queue used to send TM packets
		734	* @param time is the time used to date the TC execution
		735	*
		736	*/
		737
		738	unsigned int val = 0;
		739
		740	if (result == LFR_SUCCESSFUL)
		741	{
		742	if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
		743	&&
		744	!( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
		745	)
		746	{
		747	send_tm_lfr_tc_exe_success( TC, queue_id );
		748	}
		749	update_last_TC_exe( TC );
		750	val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
		751	val++;
		752	housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
		753	housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
		754	}
		755	else
		756	{
		757	update_last_TC_rej( TC );
		758	val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
		759	val++;
		760	housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
		761	housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
		762	}
		763	}
		764
		765	//***************************
		766	// Interrupt Service Routines
		767	rtems_isr commutation_isr1( rtems_vector_number vector )
		768	{
		769	if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
		770	printf("In commutation_isr1 *** Error sending event to DUMB\n");
		771	}
		772	}
		773
		774	rtems_isr commutation_isr2( rtems_vector_number vector )
		775	{
		776	if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
		777	printf("In commutation_isr2 *** Error sending event to DUMB\n");
		778	}
		779	}
		780
		781	//****************
		782	// OTHER FUNCTIONS
		783	void updateLFRCurrentMode()
		784	{
		785	/** This function updates the value of the global variable lfrCurrentMode.
		786	*
		787	* lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
		788	*
		789	*/
		790	// update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
		791	lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
		792	}
		793

FSW-qt/Makefile +2 -2

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.5) on: Tue Mar 11 15:58:37 2014
+            # Generated by qmake (2.01a) (Qt 4.8.5) on: Tue Mar 25 09:47:02 2014
             # Project:  fsw-qt.pro
             # Template: app
             # Command: /usr/bin/qmake-qt4 -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             #############################################################################
             ####### Compiler, tools and options
             CC            = sparc-rtems-gcc
             CXX           = sparc-rtems-g++
-            DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=3 -DPRINT_MESSAGES_ON_CONSOLE -DDEBUG_MESSAGES
+            DEFINES       = -DSW_VERSION_N1=1 -DSW_VERSION_N2=0 -DSW_VERSION_N3=0 -DSW_VERSION_N4=3 -DVHDL_DEV -DPRINT_MESSAGES_ON_CONSOLE
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../../LFR_basic-parameters
             LINK          = sparc-rtems-g++
             LFLAGS        =
             LIBS          = $(SUBLIBS)
             AR            = sparc-rtems-ar rcs
             RANLIB        =
             QMAKE         = /usr/bin/qmake-qt4
             TAR           = tar -cf
             COMPRESS      = gzip -9f
             COPY          = cp -f
             SED           = sed
             COPY_FILE     = $(COPY)
             COPY_DIR      = $(COPY) -r
             STRIP         = sparc-rtems-strip
             INSTALL_FILE  = install -m 644 -p
             INSTALL_DIR   = $(COPY_DIR)
             INSTALL_PROGRAM = install -m 755 -p
             DEL_FILE      = rm -f
             SYMLINK       = ln -f -s
             DEL_DIR       = rmdir
             MOVE          = mv -f
             CHK_DIR_EXISTS= test -d
             MKDIR         = mkdir -p
             ####### Output directory
             OBJECTS_DIR   = obj/
             ####### Files
             SOURCES       = ../src/wf_handler.c \
             		../src/tc_handler.c \
             		../src/fsw_processing.c \
             		../src/fsw_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c \
             		../src/tc_load_dump_parameters.c \
             		../src/tm_lfr_tc_exe.c \
             		../src/tc_acceptance.c \
             		../../LFR_basic-parameters/basic_parameters.c
             OBJECTS       = obj/wf_handler.o \
             		obj/tc_handler.o \
             		obj/fsw_processing.o \
             		obj/fsw_misc.o \
             		obj/fsw_init.o \
             		obj/fsw_globals.o \
             		obj/fsw_spacewire.o \
             		obj/tc_load_dump_parameters.o \
             		obj/tm_lfr_tc_exe.o \
             		obj/tc_acceptance.o \
             		obj/basic_parameters.o
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf \
             		fsw-qt.pro
             QMAKE_TARGET  = fsw
             DESTDIR       = bin/
             TARGET        = bin/fsw
             first: all
             ####### Implicit rules
             .SUFFIXES: .o .c .cpp .cc .cxx .C
             .cpp.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cc.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .cxx.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .C.o:
             	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o "$@" "$<"
             .c.o:
             	$(CC) -c $(CFLAGS) $(INCPATH) -o "$@" "$<"
             ####### Build rules
             all: Makefile $(TARGET)
             $(TARGET):  $(OBJECTS)
             	@$(CHK_DIR_EXISTS) bin/ || $(MKDIR) bin/
             	$(LINK) $(LFLAGS) -o $(TARGET) $(OBJECTS) $(OBJCOMP) $(LIBS)
             Makefile: fsw-qt.pro  /usr/lib64/qt4/mkspecs/linux-g++/qmake.conf /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-base.conf \
             		/usr/lib64/qt4/mkspecs/common/g++-unix.conf \
             		/usr/lib64/qt4/mkspecs/qconfig.pri \
             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
             		/usr/lib64/qt4/mkspecs/features/qt_functions.prf \
             		/usr/lib64/qt4/mkspecs/features/qt_config.prf \
             		/usr/lib64/qt4/mkspecs/features/exclusive_builds.prf \
             		/usr/lib64/qt4/mkspecs/features/default_pre.prf \
             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
             		/usr/lib64/qt4/mkspecs/features/default_post.prf \
             		/usr/lib64/qt4/mkspecs/features/shared.prf \
             		/usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf \
             		/usr/lib64/qt4/mkspecs/features/warn_on.prf \
             		/usr/lib64/qt4/mkspecs/features/resources.prf \
             		/usr/lib64/qt4/mkspecs/features/uic.prf \
             		/usr/lib64/qt4/mkspecs/features/yacc.prf \
             		/usr/lib64/qt4/mkspecs/features/lex.prf \
             		/usr/lib64/qt4/mkspecs/features/include_source_dir.prf
             	$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             /usr/lib64/qt4/mkspecs/common/unix.conf:
             /usr/lib64/qt4/mkspecs/common/linux.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base.conf:
             /usr/lib64/qt4/mkspecs/common/gcc-base-unix.conf:
             /usr/lib64/qt4/mkspecs/common/g++-base.conf:
             /usr/lib64/qt4/mkspecs/common/g++-unix.conf:
             /usr/lib64/qt4/mkspecs/qconfig.pri:
             /usr/lib64/qt4/mkspecs/modules/qt_webkit.pri:
             /usr/lib64/qt4/mkspecs/features/qt_functions.prf:
             /usr/lib64/qt4/mkspecs/features/qt_config.prf:
             /usr/lib64/qt4/mkspecs/features/exclusive_builds.prf:
             /usr/lib64/qt4/mkspecs/features/default_pre.prf:
             sparc.pri:
             /usr/lib64/qt4/mkspecs/features/release.prf:
             /usr/lib64/qt4/mkspecs/features/default_post.prf:
             /usr/lib64/qt4/mkspecs/features/shared.prf:
             /usr/lib64/qt4/mkspecs/features/unix/gdb_dwarf_index.prf:
             /usr/lib64/qt4/mkspecs/features/warn_on.prf:
             /usr/lib64/qt4/mkspecs/features/resources.prf:
             /usr/lib64/qt4/mkspecs/features/uic.prf:
             /usr/lib64/qt4/mkspecs/features/yacc.prf:
             /usr/lib64/qt4/mkspecs/features/lex.prf:
             /usr/lib64/qt4/mkspecs/features/include_source_dir.prf:
             qmake:  FORCE
             	@$(QMAKE) -spec /usr/lib64/qt4/mkspecs/linux-g++ -o Makefile fsw-qt.pro
             dist:
             	@$(CHK_DIR_EXISTS) obj/fsw1.0.0 || $(MKDIR) obj/fsw1.0.0
             	$(COPY_FILE) --parents $(SOURCES) $(DIST) obj/fsw1.0.0/ && (cd `dirname obj/fsw1.0.0` && $(TAR) fsw1.0.0.tar fsw1.0.0 && $(COMPRESS) fsw1.0.0.tar) && $(MOVE) `dirname obj/fsw1.0.0`/fsw1.0.0.tar.gz . && $(DEL_FILE) -r obj/fsw1.0.0
             clean:compiler_clean
             	-$(DEL_FILE) $(OBJECTS)
             	-$(DEL_FILE) *~ core *.core
             ####### Sub-libraries
             distclean: clean
             	-$(DEL_FILE) $(TARGET)
             	-$(DEL_FILE) Makefile
             grmon:
             	cd bin && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
             check: first
             compiler_rcc_make_all:
             compiler_rcc_clean:
             compiler_uic_make_all:
             compiler_uic_clean:
             compiler_image_collection_make_all: qmake_image_collection.cpp
             compiler_image_collection_clean:
             	-$(DEL_FILE) qmake_image_collection.cpp
             compiler_yacc_decl_make_all:
             compiler_yacc_decl_clean:
             compiler_yacc_impl_make_all:
             compiler_yacc_impl_clean:
             compiler_lex_make_all:
             compiler_lex_clean:
             compiler_clean:
             ####### Compile
             obj/wf_handler.o: ../src/wf_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/wf_handler.o ../src/wf_handler.c
             obj/tc_handler.o: ../src/tc_handler.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_handler.o ../src/tc_handler.c
             obj/fsw_processing.o: ../src/fsw_processing.c ../src/fsw_processing_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/fsw_processing.c
             obj/fsw_misc.o: ../src/fsw_misc.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_misc.o ../src/fsw_misc.c
             obj/fsw_init.o: ../src/fsw_init.c ../src/fsw_config.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_init.o ../src/fsw_init.c
             obj/fsw_globals.o: ../src/fsw_globals.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_globals.o ../src/fsw_globals.c
             obj/fsw_spacewire.o: ../src/fsw_spacewire.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spacewire.o ../src/fsw_spacewire.c
             obj/tc_load_dump_parameters.o: ../src/tc_load_dump_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_load_dump_parameters.o ../src/tc_load_dump_parameters.c
             obj/tm_lfr_tc_exe.o: ../src/tm_lfr_tc_exe.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tm_lfr_tc_exe.o ../src/tm_lfr_tc_exe.c
             obj/tc_acceptance.o: ../src/tc_acceptance.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/tc_acceptance.o ../src/tc_acceptance.c
             obj/basic_parameters.o: ../../LFR_basic-parameters/basic_parameters.c ../../LFR_basic-parameters/basic_parameters.h
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/basic_parameters.o ../../LFR_basic-parameters/basic_parameters.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/LEON3_RELOAD_SPW.py +3 0

             #!/usr/bin/lppmon -e
+            RMAPPlugin0.setValueSpaceWireLinkNumber( 1 )
+            RMAPPlugin0.setValueTargetLogicalAddress( 254 )
             dsu3plugin0.openFile("/opt/DEV_PLE/FSW-qt/bin/fsw")
             dsu3plugin0.loadFile()
             dsu3plugin0.run()

FSW-qt/fsw-qt.pro +6 -2

             TEMPLATE = app
             # CONFIG += console v8 sim
-            # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev
+            # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
-            CONFIG += console verbose debug_messages
+            CONFIG += console verbose vhdl_dev
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-1-0
             DEFINES += SW_VERSION_N1=1 # major
             DEFINES += SW_VERSION_N2=0 # minor
             DEFINES += SW_VERSION_N3=0 # patch
             DEFINES += SW_VERSION_N4=3 # internal
+            contains( CONFIG, debug_tch ) {
+                DEFINES += DEBUG_TCH
+            }
             contains( CONFIG, vhdl_dev ) {
                 DEFINES += VHDL_DEV
             }
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, debug_messages ) {
                 DEFINES += DEBUG_MESSAGES
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             contains( CONFIG, stack_report ) {
                 DEFINES += PRINT_STACK_REPORT
             }
             contains( CONFIG, boot_messages ) {
                 DEFINES += BOOT_MESSAGES
             }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             INCLUDEPATH += \
                 ../src \
                 ../header \
                 ../../LFR_basic-parameters
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_processing.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c \
                 ../../LFR_basic-parameters/basic_parameters.c
             HEADERS += \
                 ../header/wf_handler.h \
                 ../header/tc_handler.h \
                 ../header/grlib_regs.h \
                 ../header/fsw_processing.h \
                 ../header/fsw_params.h \
                 ../header/fsw_misc.h \
                 ../header/fsw_init.h \
                 ../header/ccsds_types.h \
                 ../header/fsw_params_processing.h \
                 ../header/fsw_spacewire.h \
                 ../header/tc_load_dump_parameters.h \
                 ../header/tm_lfr_tc_exe.h \
                 ../header/tc_acceptance.h \
                 ../header/fsw_params_nb_bytes.h \
                 ../../LFR_basic-parameters/basic_parameters.h

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

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by QtCreator 3.0.1, 2014-03-13T15:53:26. -->
+            <!-- Written by QtCreator 3.0.1, 2014-03-25T08:40:48. -->
             <qtcreator>
              <data>
               <variable>ProjectExplorer.Project.ActiveTarget</variable>
               <value type="int">1</value>
              </data>
              <data>
               <variable>ProjectExplorer.Project.EditorSettings</variable>
               <valuemap type="QVariantMap">
                <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
                <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
                <value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
                <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
                 <value type="QString" key="language">Cpp</value>
                 <valuemap type="QVariantMap" key="value">
                  <value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
                 </valuemap>
                </valuemap>
                <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
                 <value type="QString" key="language">QmlJS</value>
                 <valuemap type="QVariantMap" key="value">
                  <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
                 </valuemap>
                </valuemap>
                <value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
                <value type="QByteArray" key="EditorConfiguration.Codec">UTF-8</value>
                <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
                <value type="int" key="EditorConfiguration.IndentSize">4</value>
                <value type="bool" key="EditorConfiguration.KeyboardTooltips">false</value>
                <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
                <value type="int" key="EditorConfiguration.PaddingMode">1</value>
                <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
                <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
                <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
                <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
                <value type="int" key="EditorConfiguration.TabSize">8</value>
                <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
                <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
                <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
                <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
                <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
                <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
               </valuemap>
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header/ccsds_types.h +1 0

             #ifndef CCSDS_TYPES_H_INCLUDED
             #define CCSDS_TYPES_H_INCLUDED
             #include "fsw_params_processing.h"
             #define CCSDS_PROTOCOLE_EXTRA_BYTES 4
             #define CCSDS_TELEMETRY_HEADER_LENGTH 16+4
             #define CCSDS_TM_PKT_MAX_SIZE 4412
             #define CCSDS_TELECOMMAND_HEADER_LENGTH 10+4
             #define CCSDS_TC_PKT_MAX_SIZE 256
             #define CCSDS_TC_PKT_MIN_SIZE 16
             #define CCSDS_TC_TM_PACKET_OFFSET 7
             #define CCSDS_PROCESS_ID 76
             #define CCSDS_PACKET_CATEGORY 12
             #define CCSDS_NODE_ADDRESS 0xfe
             #define CCSDS_USER_APP 0x00
             #define DEFAULT_SPARE1_PUSVERSION_SPARE2 0x10
             #define DEFAULT_RESERVED 0x00
             #define DEFAULT_HKBIA 0x1e  // 0001 1110
             // PACKET ID
             #define TM_PACKET_ID_TC_EXE                     0x0cc1 // PID 76 CAT 1
             #define TM_PACKET_ID_HK                         0x0cc4 // PID 76 CAT 4
             #define TM_PACKET_ID_PARAMETER_DUMP             0x0cc9 // PID 76 CAT 9
             #define TM_PACKET_ID_SCIENCE_NORMAL_BURST       0x0ccc // PID 76 CAT 12
             #define TM_PACKET_ID_SCIENCE_SBM1_SBM2          0x0cfc // PID 79 CAT 12
             #define TM_PACKET_PID_DEFAULT                   76
             #define TM_PACKET_PID_BURST_SBM1_SBM2           79
             #define TM_PACKET_CAT_TC_EXE                    1
             #define TM_PACKET_CAT_HK                        4
             #define TM_PACKET_CAT_PARAMETER_DUMP            9
             #define TM_PACKET_CAT_SCIENCE                   12
+            #define TC_PACKET_CAT                           12
             // PACKET SEQUENCE CONTROL
             #define TM_PACKET_SEQ_CTRL_CONTINUATION 0x00    // [0000 0000]
             #define TM_PACKET_SEQ_CTRL_FIRST        0x40    // [0100 0000]
             #define TM_PACKET_SEQ_CTRL_LAST         0x80    // [1000 0000]
             #define TM_PACKET_SEQ_CTRL_STANDALONE   0xc0    // [1100 0000]
             #define TM_PACKET_SEQ_CNT_DEFAULT       0x00    // [0000 0000]
             // DESTINATION ID
             #define TM_DESTINATION_ID_GROUND 0
             #define TM_DESTINATION_ID_MISSION_TIMELINE 110
             #define TM_DESTINATION_ID_TC_SEQUENCES 111
             #define TM_DESTINATION_ID_RECOVERY_ACTION_COMMAND 112
             #define TM_DESTINATION_ID_BACKUP_MISSION_TIMELINE 113
             #define TM_DESTINATION_ID_DIRECT_CMD 120
             #define TM_DESTINATION_ID_SPARE_GRD_SRC1 121
             #define TM_DESTINATION_ID_SPARE_GRD_SRC2 122
             #define TM_DESTINATION_ID_OBCP 15
             #define TM_DESTINATION_ID_SYSTEM_CONTROL 14
             #define TM_DESTINATION_ID_AOCS 11
             #define CCSDS_DESTINATION_ID 0x01
             #define CCSDS_PROTOCOLE_ID 0x02
             #define CCSDS_RESERVED 0x00
             #define CCSDS_USER_APP 0x00
             #define SIZE_TM_LFR_TC_EXE_NOT_IMPLEMENTED 24
             #define SIZE_TM_LFR_TC_EXE_CORRUPTED 32
             #define SIZE_HK_PARAMETERS 112
             // TC TYPES
             #define TC_TYPE_GEN 181
             #define TC_TYPE_TIME 9
             // TC SUBTYPES
             #define TC_SUBTYPE_RESET 1
             #define TC_SUBTYPE_LOAD_COMM 11
             #define TC_SUBTYPE_LOAD_NORM 13
             #define TC_SUBTYPE_LOAD_BURST 19
             #define TC_SUBTYPE_LOAD_SBM1 25
             #define TC_SUBTYPE_LOAD_SBM2 27
             #define TC_SUBTYPE_DUMP 31
             #define TC_SUBTYPE_ENTER 41
             #define TC_SUBTYPE_UPDT_INFO 51
             #define TC_SUBTYPE_EN_CAL 61
             #define TC_SUBTYPE_DIS_CAL 63
             #define TC_SUBTYPE_UPDT_TIME 129
             // TC LEN
             #define TC_LEN_RESET 12
             #define TC_LEN_LOAD_COMM 14
             #define TC_LEN_LOAD_NORM 22
             #define TC_LEN_LOAD_BURST 14
             #define TC_LEN_LOAD_SBM1 14
             #define TC_LEN_LOAD_SBM2 14
             #define TC_LEN_DUMP 12
             #define TC_LEN_ENTER 20
             #define TC_LEN_UPDT_INFO 46
             #define TC_LEN_EN_CAL 12
             #define TC_LEN_DIS_CAL 12
             #define TC_LEN_UPDT_TIME 18
             // TM TYPES
             #define TM_TYPE_TC_EXE 1
             #define TM_TYPE_HK 3
             #define TM_TYPE_PARAMETER_DUMP 3
             #define TM_TYPE_LFR_SCIENCE 21
             // TM SUBTYPES
             #define TM_SUBTYPE_EXE_OK 7
             #define TM_SUBTYPE_EXE_NOK 8
             #define TM_SUBTYPE_HK 25
             #define TM_SUBTYPE_PARAMETER_DUMP 25
             #define TM_SUBTYPE_SCIENCE 3
             #define TM_SUBTYPE_LFR_SCIENCE 3
             // FAILURE CODES
             #define ILLEGAL_APID        0
             #define WRONG_LEN_PKT       1
             #define INCOR_CHECKSUM      2
             #define ILL_TYPE            3
             #define ILL_SUBTYPE         4
             #define WRONG_APP_DATA      5       // 0x00 0x05
             #define TC_NOT_EXE          42000   // 0xa4 0x10
             #define WRONG_SRC_ID        42001   // 0xa4 0x11
             #define FUNCT_NOT_IMPL      42002   // 0xa4 0x12
             #define FAIL_DETECTED       42003   // 0xa4 0x13
             #define NOT_ALLOWED         42004   // 0xa4 0x14
             #define CORRUPTED           42005   // 0xa4 0x15
             #define CCSDS_TM_VALID      7
             // TC SID
             #define SID_TC_GROUND                   0
             #define SID_TC_MISSION_TIMELINE         110
             #define SID_TC_TC_SEQUENCES             111
             #define SID_TC_RECOVERY_ACTION_CMD      112
             #define SID_TC_BACKUP_MISSION_TIMELINE  113
             #define SID_TC_DIRECT_CMD               120
             #define SID_TC_SPARE_GRD_SRC1           121
             #define SID_TC_SPARE_GRD_SRC2           122
             #define SID_TC_OBCP                     15
             #define SID_TC_SYSTEM_CONTROL           14
             #define SID_TC_AOCS                     11
             #define SID_TC_RPW_INTERNAL             254
             enum apid_destid{
                 GROUND,
                 MISSION_TIMELINE,
                 TC_SEQUENCES,
                 RECOVERY_ACTION_CMD,
                 BACKUP_MISSION_TIMELINE,
                 DIRECT_CMD,
                 SPARE_GRD_SRC1,
                 SPARE_GRD_SRC2,
                 OBCP,
                 SYSTEM_CONTROL,
                 AOCS,
                 RPW_INTERNAL
             };
             // SEQUENCE COUNTERS
             #define SEQ_CNT_MAX 16383
             #define SEQ_CNT_NB_DEST_ID 12
             // TM SID
             #define SID_HK 1
             #define SID_PARAMETER_DUMP 10
             #define SID_NORM_SWF_F0 3
             #define SID_NORM_SWF_F1 4
             #define SID_NORM_SWF_F2 5
             #define SID_NORM_CWF_F3 1
             #define SID_BURST_CWF_F2 2
             #define SID_SBM1_CWF_F1 24
             #define SID_SBM2_CWF_F2 25
             #define SID_NORM_ASM_F0 11
             #define SID_NORM_ASM_F1 12
             #define SID_NORM_ASM_F2 13
             #define SID_NORM_BP1_F0 14
             #define SID_NORM_BP1_F1 15
             #define SID_NORM_BP1_F2 16
             #define SID_NORM_BP2_F0 19
             #define SID_NORM_BP2_F1 20
             #define SID_NORM_BP2_F2 21
             #define SID_BURST_BP1_F0 17
             #define SID_BURST_BP2_F0 22
             #define SID_BURST_BP1_F1 18
             #define SID_BURST_BP2_F1 23
             #define SID_SBM1_BP1_F0 28
             #define SID_SBM1_BP2_F0 31
             #define SID_SBM2_BP1_F0 29
             #define SID_SBM2_BP2_F0 32
             #define SID_SBM2_BP1_F1 30
             #define SID_SBM2_BP2_F1 33
             #define SID_NORM_CWF_LONG_F3 34
             // LENGTH (BYTES)
             #define LENGTH_TM_LFR_TC_EXE_MAX 32
             #define LENGTH_TM_LFR_HK 126
             // HEADER_LENGTH
             #define TM_HEADER_LEN 16
             #define HEADER_LENGTH_TM_LFR_SCIENCE_ASM 28
             // PACKET_LENGTH
             #define PACKET_LENGTH_TC_EXE_SUCCESS            (20 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_INCONSISTENT       (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     (26 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED    (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_ERROR              (24 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TC_EXE_CORRUPTED          (32 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_HK                        (124 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_PARAMETER_DUMP            (36 - CCSDS_TC_TM_PACKET_OFFSET)
             #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0     2221  // 44 * 25 * 2 + 28 - 7
             #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1     2621  // 52 * 25 * 2 + 28 - 7
             #define PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2     2421  // 48 * 25 * 2 + 28 - 7
             #define SPARE1_PUSVERSION_SPARE2 0x10
             // R1
             #define TM_LEN_SCI_SWF_340          4101    // 340 * 12 + 10 + 12 - 1
             #define TM_LEN_SCI_SWF_8            117     //   8 * 12 + 10 + 12 - 1
             #define TM_LEN_SCI_CWF_340          4099    // 340 * 12 + 10 + 10 - 1
             #define TM_LEN_SCI_CWF_8            115     //   8 * 12 + 10 + 10 - 1
             #define TM_LEN_SCI_CWF3_LIGHT_340   2059    // 340 * 6  + 10 + 10 - 1
             #define TM_LEN_SCI_CWF3_LIGHT_8     67      //   8 * 6  + 10 + 10 - 1
             // R2
             #define TM_LEN_SCI_SWF_304          3669    // 304 * 12 + 10 + 12 - 1
             #define TM_LEN_SCI_SWF_224          2709    // 224 * 12 + 10 + 12 - 1
             #define TM_LEN_SCI_CWF_336          4051    // 336 * 12 + 10 + 10 - 1
             #define TM_LEN_SCI_CWF_672          4051    // 672 * 6 + 10 + 10 - 1
             //
             #define DEFAULT_PKTCNT      0x07
             #define BLK_NR_304          0x0130
             #define BLK_NR_224          0x00e0
             #define BLK_NR_CWF          0x0150  // 336
             #define BLK_NR_CWF_SHORT_F3 0x02a0  // 672
             enum TM_TYPE{
                 TM_LFR_TC_EXE_OK,
                 TM_LFR_TC_EXE_ERR,
                 TM_LFR_HK,
                 TM_LFR_SCI,
                 TM_LFR_SCI_SBM,
                 TM_LFR_PAR_DUMP
             };
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 // PACKET HEADER
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 //
                 unsigned char telecommand_pkt_id[2];
                 unsigned char pkt_seq_control[2];
             } Packet_TM_LFR_TC_EXE_SUCCESS_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 // PACKET HEADER
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 //
                 unsigned char tc_failure_code[2];
                 unsigned char telecommand_pkt_id[2];
                 unsigned char pkt_seq_control[2];
                 unsigned char tc_service;
                 unsigned char tc_subtype;
                 unsigned char byte_position;
                 unsigned char rcv_value;
             } Packet_TM_LFR_TC_EXE_INCONSISTENT_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 // PACKET HEADER
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 //
                 unsigned char tc_failure_code[2];
                 unsigned char telecommand_pkt_id[2];
                 unsigned char pkt_seq_control[2];
                 unsigned char tc_service;
                 unsigned char tc_subtype;
                 unsigned char lfr_status_word[2];
             } Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 // PACKET HEADER
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 //
                 unsigned char tc_failure_code[2];
                 unsigned char telecommand_pkt_id[2];
                 unsigned char pkt_seq_control[2];
                 unsigned char tc_service;
                 unsigned char tc_subtype;
             } Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 // PACKET HEADER
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 //
                 unsigned char tc_failure_code[2];
                 unsigned char telecommand_pkt_id[2];
                 unsigned char pkt_seq_control[2];
                 unsigned char tc_service;
                 unsigned char tc_subtype;
             } Packet_TM_LFR_TC_EXE_ERROR_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 // PACKET HEADER
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 //
                 unsigned char tc_failure_code[2];
                 unsigned char telecommand_pkt_id[2];
                 unsigned char pkt_seq_control[2];
                 unsigned char tc_service;
                 unsigned char tc_subtype;
                 unsigned char pkt_len_rcv_value[2];
                 unsigned char pkt_datafieldsize_cnt[2];
                 unsigned char rcv_crc[2];
                 unsigned char computed_crc[2];
             } Packet_TM_LFR_TC_EXE_CORRUPTED_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 // AUXILIARY HEADER
                 unsigned char sid;
                 unsigned char hkBIA;
                 unsigned char pktCnt;
                 unsigned char pktNr;
                 unsigned char acquisitionTime[6];
                 unsigned char blkNr[2];
             } Header_TM_LFR_SCIENCE_SWF_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 // AUXILIARY DATA HEADER
                 unsigned char sid;
                 unsigned char hkBIA;
                 unsigned char acquisitionTime[6];
                 unsigned char blkNr[2];
             } Header_TM_LFR_SCIENCE_CWF_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 // AUXILIARY HEADER
                 unsigned char sid;
                 unsigned char biaStatusInfo;
                 unsigned char pa_lfr_pkt_cnt_asm;
                 unsigned char pa_lfr_pkt_nr_asm;
                 unsigned char acquisitionTime[6];
                 unsigned char pa_lfr_asm_blk_nr[2];
             } Header_TM_LFR_SCIENCE_ASM_t;
             typedef struct {
                 //targetLogicalAddress is removed by the grspw module
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char headerFlag_pusVersion_Ack;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char sourceID;
                 unsigned char dataAndCRC[CCSDS_TC_PKT_MAX_SIZE-10];
             } ccsdsTelecommandPacket_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 unsigned char sid;
                 //**************
                 // HK PARAMETERS
                 unsigned char lfr_status_word[2];
                 unsigned char lfr_sw_version[4];
                 unsigned char lfr_fpga_version[3];
                 // ressource statistics
                 unsigned char hk_lfr_cpu_load;
                 unsigned char hk_lfr_load_max;
                 unsigned char hk_lfr_load_aver;
                 // tc statistics
                 unsigned char hk_lfr_update_info_tc_cnt[2];
                 unsigned char hk_lfr_update_time_tc_cnt[2];
                 unsigned char hk_lfr_exe_tc_cnt[2];
                 unsigned char hk_lfr_rej_tc_cnt[2];
                 unsigned char hk_lfr_last_exe_tc_id[2];
                 unsigned char hk_lfr_last_exe_tc_type[2];
                 unsigned char hk_lfr_last_exe_tc_subtype[2];
                 unsigned char hk_lfr_last_exe_tc_time[6];
                 unsigned char hk_lfr_last_rej_tc_id[2];
                 unsigned char hk_lfr_last_rej_tc_type[2];
                 unsigned char hk_lfr_last_rej_tc_subtype[2];
                 unsigned char hk_lfr_last_rej_tc_time[6];
                 // anomaly statistics
                 unsigned char hk_lfr_le_cnt[2];
                 unsigned char hk_lfr_me_cnt[2];
                 unsigned char hk_lfr_he_cnt[2];
                 unsigned char hk_lfr_last_er_rid[2];
                 unsigned char hk_lfr_last_er_code;
                 unsigned char hk_lfr_last_er_time[6];
                 // vhdl_blk_status
                 unsigned char hk_lfr_vhdl_aa_sm;
                 unsigned char hk_lfr_vhdl_fft_sr;
                 unsigned char hk_lfr_vhdl_cic_hk;
                 unsigned char hk_lfr_vhdl_iir_cal;
                 // spacewire_if_statistics
                 unsigned char hk_lfr_dpu_spw_pkt_rcv_cnt[2];
                 unsigned char hk_lfr_dpu_spw_pkt_sent_cnt[2];
                 unsigned char hk_lfr_dpu_spw_tick_out_cnt;
                 unsigned char hk_lfr_dpu_spw_last_timc;
                 // ahb error statistics
                 unsigned int hk_lfr_last_fail_addr;
                 // temperatures
                 unsigned char hk_lfr_temp_scm[2];
                 unsigned char hk_lfr_temp_pcb[2];
                 unsigned char hk_lfr_temp_fpga[2];
                 // spacecraft potential
                 unsigned char hk_lfr_sc_v_f3[2];
                 unsigned char hk_lfr_sc_e1_f3[2];
                 unsigned char hk_lfr_sc_e2_f3[2];
                 // error counters
                 unsigned char hk_lfr_dpu_spw_parity;
                 unsigned char hk_lfr_dpu_spw_disconnect;
                 unsigned char hk_lfr_dpu_spw_escape;
                 unsigned char hk_lfr_dpu_spw_credit;
                 unsigned char hk_lfr_dpu_spw_write_sync;
                 unsigned char hk_lfr_dpu_spw_rx_ahb;
                 unsigned char hk_lfr_dpu_spw_tx_ahb;
                 unsigned char hk_lfr_dpu_spw_early_eop;
                 unsigned char hk_lfr_dpu_spw_invalid_addr;
                 unsigned char hk_lfr_dpu_spw_eep;
                 unsigned char hk_lfr_dpu_spw_rx_too_big;
                 // timecode
                 unsigned char hk_lfr_timecode_erroneous;
                 unsigned char hk_lfr_timecode_missing;
                 unsigned char hk_lfr_timecode_invalid;
                 // time
                 unsigned char hk_lfr_time_timecode_it;
                 unsigned char hk_lfr_time_not_synchro;
                 unsigned char hk_lfr_time_timecode_ctr;
                 // hk_lfr_buffer_dpu_
                 unsigned char hk_lfr_buffer_dpu_tc_fifo;
                 unsigned char hk_lfr_buffer_dpu_tm_fifo;
                 // hk_lfr_ahb_
                 unsigned char hk_lfr_ahb_correctable;
                 unsigned char hk_lfr_ahb_uncorrectable;
                 // spare
                 unsigned char parameters_spare;
             } Packet_TM_LFR_HK_t;
             typedef struct {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 unsigned char sid;
                 //******************
                 // COMMON PARAMETERS
                 unsigned char unused0;
                 unsigned char bw_sp0_sp1_r0_r1;
                 //******************
                 // NORMAL PARAMETERS
                 unsigned char sy_lfr_n_swf_l[2];
                 unsigned char sy_lfr_n_swf_p[2];
                 unsigned char sy_lfr_n_asm_p[2];
                 unsigned char sy_lfr_n_bp_p0;
                 unsigned char sy_lfr_n_bp_p1;
                 unsigned char sy_lfr_n_cwf_long_f3;
                 unsigned char lfr_normal_parameters_spare;
                 //*****************
                 // BURST PARAMETERS
                 unsigned char sy_lfr_b_bp_p0;
                 unsigned char sy_lfr_b_bp_p1;
                 //****************
                 // SBM1 PARAMETERS
                 unsigned char sy_lfr_s1_bp_p0;
                 unsigned char sy_lfr_s1_bp_p1;
                 //****************
                 // SBM2 PARAMETERS
                 unsigned char sy_lfr_s2_bp_p0;
                 unsigned char sy_lfr_s2_bp_p1;
                 // SPARE
                 unsigned char source_data_spare;
             } Packet_TM_LFR_PARAMETER_DUMP_t;
             #endif // CCSDS_TYPES_H_INCLUDED

header/fsw_params.h +1 0

             #ifndef FSW_PARAMS_H_INCLUDED
             #define FSW_PARAMS_H_INCLUDED
             #include "grlib_regs.h"
             #include "fsw_params_processing.h"
             #include "fsw_params_nb_bytes.h"
             #include "tm_byte_positions.h"
             #include "ccsds_types.h"
             #define GRSPW_DEVICE_NAME "/dev/grspw0"
             #define UART_DEVICE_NAME "/dev/console"
             typedef struct ring_node
             {
                 struct ring_node *previous;
                 int buffer_address;
                 struct ring_node *next;
                 unsigned int status;
             } ring_node;
             //************************
             // flight software version
             // this parameters is handled by the Qt project options
             #define NB_PACKETS_PER_GROUP_OF_CWF         8   // 8 packets containing 336 blk
             #define NB_PACKETS_PER_GROUP_OF_CWF_LIGHT   4   // 4 packets containing 672 blk
             #define NB_SAMPLES_PER_SNAPSHOT 2688    // 336 * 8 = 672 * 4 = 2688
             #define TIME_OFFSET 2
             #define TIME_OFFSET_IN_BYTES 8
             #define WAVEFORM_EXTENDED_HEADER_OFFSET 22
             #define NB_BYTES_SWF_BLK (2 * 6)
             #define NB_WORDS_SWF_BLK 3
             #define NB_BYTES_CWF3_LIGHT_BLK 6
             #define WFRM_INDEX_OF_LAST_PACKET 6  // waveforms are transmitted in groups of 2048 blocks, 6 packets of 340 and 1 of 8
             #define NB_RING_NODES_F0 3      // AT LEAST 3
             #define NB_RING_NODES_F1 5      // AT LEAST 3
             #define NB_RING_NODES_F2 5      // AT LEAST 3
             //**********
             // LFR MODES
             #define LFR_MODE_STANDBY    0
             #define LFR_MODE_NORMAL     1
             #define LFR_MODE_BURST      2
             #define LFR_MODE_SBM1       3
             #define LFR_MODE_SBM2       4
             #define TDS_MODE_LFM        5
             #define TDS_MODE_STANDBY    0
             #define TDS_MODE_NORMAL     1
             #define TDS_MODE_BURST      2
             #define TDS_MODE_SBM1       3
             #define TDS_MODE_SBM2       4
             #define THR_MODE_STANDBY    0
             #define THR_MODE_NORMAL      1
             #define THR_MODE_BURST      2
             #define RTEMS_EVENT_MODE_STANDBY        RTEMS_EVENT_0
             #define RTEMS_EVENT_MODE_NORMAL         RTEMS_EVENT_1
             #define RTEMS_EVENT_MODE_BURST          RTEMS_EVENT_2
             #define RTEMS_EVENT_MODE_SBM1           RTEMS_EVENT_3
             #define RTEMS_EVENT_MODE_SBM2           RTEMS_EVENT_4
             #define RTEMS_EVENT_MODE_SBM2_WFRM      RTEMS_EVENT_5
             #define RTEMS_EVENT_MODE_NORMAL_SWF_F0  RTEMS_EVENT_6
             #define RTEMS_EVENT_MODE_NORMAL_SWF_F1  RTEMS_EVENT_7
             #define RTEMS_EVENT_MODE_NORMAL_SWF_F2  RTEMS_EVENT_8
             //****************************
             // LFR DEFAULT MODE PARAMETERS
             // COMMON
             #define DEFAULT_SY_LFR_COMMON0 0x00
             #define DEFAULT_SY_LFR_COMMON1 0x10 // default value 0 0 0 1 0 0 0 0
             // NORM
             #define SY_LFR_N_SWF_L 2048 // nb sample
             #define SY_LFR_N_SWF_P 300  // sec
             #define SY_LFR_N_ASM_P 3600 // sec
             #define SY_LFR_N_BP_P0 4    // sec
             #define SY_LFR_N_BP_P1 20   // sec
             #define SY_LFR_N_CWF_LONG_F3 0      // 0 => production of light continuous waveforms at f3
             #define MIN_DELTA_SNAPSHOT 16       // sec
             // BURST
             #define DEFAULT_SY_LFR_B_BP_P0 1    // sec
             #define DEFAULT_SY_LFR_B_BP_P1 5    // sec
             // SBM1
             #define DEFAULT_SY_LFR_S1_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S1_BP_P1 1   // sec
             // SBM2
             #define DEFAULT_SY_LFR_S2_BP_P0 1   // sec
             #define DEFAULT_SY_LFR_S2_BP_P1 5   // sec
             // ADDITIONAL PARAMETERS
             #define TIME_BETWEEN_TWO_SWF_PACKETS 30     // nb x 10 ms => 300 ms
             #define TIME_BETWEEN_TWO_CWF3_PACKETS 1000  // nb x 10 ms => 10 s
             // STATUS WORD
             #define DEFAULT_STATUS_WORD_BYTE0 0x0d  // [0000] [1] [101] mode 4 bits / SPW enabled 1 bit / state is run 3 bits
             #define DEFAULT_STATUS_WORD_BYTE1 0x00
             //
             #define SY_LFR_DPU_CONNECT_TIMEOUT 100  // 100 * 10 ms = 1 s
             #define SY_LFR_DPU_CONNECT_ATTEMPT 3
             //****************************
             //*****************************
             // APB REGISTERS BASE ADDRESSES
             #define REGS_ADDR_APBUART           0x80000100
             #define REGS_ADDR_GPTIMER           0x80000300
             #define REGS_ADDR_GRSPW             0x80000500
             #define REGS_ADDR_TIME_MANAGEMENT   0x80000600
+            #define REGS_ADDR_GRGPIO            0x80000b00
             #ifdef VHDL_DEV
             #define REGS_ADDR_SPECTRAL_MATRIX   0x80000f00
             #define REGS_ADDR_WAVEFORM_PICKER   0x80000f40
             #else
             #define REGS_ADDR_SPECTRAL_MATRIX   0x80000f00
             #define REGS_ADDR_WAVEFORM_PICKER   0x80000f20
             #endif
             #define APBUART_CTRL_REG_MASK_DB    0xfffff7ff
             #define APBUART_CTRL_REG_MASK_TE    0x00000002
             #define APBUART_SCALER_RELOAD_VALUE 0x00000050      // 25 MHz => about 38400 (0x50)
             //**********
             // IRQ LINES
             #define IRQ_SM_SIMULATOR 9
             #define IRQ_SPARC_SM_SIMULATOR 0x19     // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_WAVEFORM_PICKER 14
             #define IRQ_SPARC_WAVEFORM_PICKER 0x1e  // see sparcv8.pdf p.76 for interrupt levels
             #define IRQ_SPECTRAL_MATRIX 6
             #define IRQ_SPARC_SPECTRAL_MATRIX 0x16  // see sparcv8.pdf p.76 for interrupt levels
             //*****
             // TIME
             #define CLKDIV_SM_SIMULATOR (10000 - 1)     // 10 ms
             #define TIMER_SM_SIMULATOR 1
             #define HK_PERIOD                           100     // 100 * 10ms => 1s
             #define SY_LFR_TIME_SYN_TIMEOUT_in_ms       2000
             #define SY_LFR_TIME_SYN_TIMEOUT_in_ticks    200     // 200 * 10 ms = 2 s
             //**********
             // LPP CODES
             #define LFR_SUCCESSFUL 0
             #define LFR_DEFAULT 1
             //******
             // RTEMS
             #define TASKID_RECV 1
             #define TASKID_ACTN 2
             #define TASKID_SPIQ 3
             #define TASKID_SMIQ 4
             #define TASKID_STAT 5
             #define TASKID_AVF0 6
             #define TASKID_SWBD 7
             #define TASKID_WFRM 8
             #define TASKID_DUMB 9
             #define TASKID_HOUS 10
             #define TASKID_MATR 11
             #define TASKID_CWF3 12
             #define TASKID_CWF2 13
             #define TASKID_CWF1 14
             #define TASKID_SEND 15
             #define TASKID_WTDG 16
             #define TASK_PRIORITY_SPIQ 5
             #define TASK_PRIORITY_SMIQ 10
             #define TASK_PRIORITY_WTDG 20
             #define TASK_PRIORITY_HOUS 30
             #define TASK_PRIORITY_CWF1 35   // CWF1 and CWF2 are never running together
             #define TASK_PRIORITY_CWF2 35   //
             #define TASK_PRIORITY_SWBD 37   // SWBD has a lower priority than WFRM, this is to extract the snapshot before sending it
             #define TASK_PRIORITY_WFRM 40
             #define TASK_PRIORITY_CWF3 40   // there is a printf in this function, be careful with its priority wrt CWF1
             #define TASK_PRIORITY_SEND 45
             #define TASK_PRIORITY_RECV 50
             #define TASK_PRIORITY_ACTN 50
             #define TASK_PRIORITY_AVF0 60
             #define TASK_PRIORITY_BPF0 60
             #define TASK_PRIORITY_MATR 100
             #define TASK_PRIORITY_STAT 200
             #define TASK_PRIORITY_DUMB 200
             #define ACTION_MSG_QUEUE_COUNT 10
             #define ACTION_MSG_PKTS_COUNT 50
             #define ACTION_MSG_PKTS_MAX_SIZE (PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES)
             #define ACTION_MSG_SPW_IOCTL_SEND_SIZE 24                   // hlen *hdr dlen *data sent options
             #define QUEUE_RECV 0
             #define QUEUE_SEND 1
             //*******
             // MACROS
             #ifdef PRINT_MESSAGES_ON_CONSOLE
             #define PRINTF(x) printf(x);
             #define PRINTF1(x,y) printf(x,y);
             #define PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define PRINTF(x) ;
             #define PRINTF1(x,y) ;
             #define PRINTF2(x,y,z) ;
             #endif
             #ifdef BOOT_MESSAGES
             #define BOOT_PRINTF(x) printf(x);
             #define BOOT_PRINTF1(x,y) printf(x,y);
             #define BOOT_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define BOOT_PRINTF(x) ;
             #define BOOT_PRINTF1(x,y) ;
             #define BOOT_PRINTF2(x,y,z) ;
             #endif
             #ifdef DEBUG_MESSAGES
             #define DEBUG_PRINTF(x) printf(x);
             #define DEBUG_PRINTF1(x,y) printf(x,y);
             #define DEBUG_PRINTF2(x,y,z) printf(x,y,z);
             #else
             #define DEBUG_PRINTF(x) ;
             #define DEBUG_PRINTF1(x,y) ;
             #define DEBUG_PRINTF2(x,y,z) ;
             #endif
             #define CPU_USAGE_REPORT_PERIOD 6   // * 10 s = period
             struct param_local_str{
                 unsigned int local_sbm1_nb_cwf_sent;
                 unsigned int local_sbm1_nb_cwf_max;
                 unsigned int local_sbm2_nb_cwf_sent;
                 unsigned int local_sbm2_nb_cwf_max;
                 unsigned int local_nb_interrupt_f0_MAX;
             };
             #endif // FSW_PARAMS_H_INCLUDED

header/fsw_params_processing.h +3 0

             #ifndef FSW_PARAMS_PROCESSING_H
             #define FSW_PARAMS_PROCESSING_H
             #define NB_BINS_PER_SM          128
             #define NB_VALUES_PER_SM        25
             #define TOTAL_SIZE_SM           3200    // 25 * 128
+            #define TOTAL_SIZE_BP1_F0       99      // 11 * 9 = 99
+            #define TOTAL_SIZE_BP1_F1       117     // 13 * 9 = 117
+            #define TOTAL_SIZE_BP1_F2       108     // 12 * 9 = 108
             //
             #define NB_RING_NODES_ASM_F0 12 // AT LEAST 3
             #define NB_RING_NODES_ASM_F1 2  // AT LEAST 3
             #define NB_RING_NODES_ASM_F2 2  // AT LEAST 3
             //
             #define NB_BINS_PER_ASM_F0  88
             #define NB_BINS_PER_PKT_ASM_F0  44
             #define TOTAL_SIZE_ASM_F0_IN_BYTES   4400    // 25 * 88 * 2
             #define ASM_F0_INDICE_START 17      // 88 bins
             #define ASM_F0_INDICE_STOP  104     // 2 packets of 44 bins
             //
             #define NB_BINS_PER_ASM_F1  104
             #define NB_BINS_PER_PKT_ASM_F1  52
             #define TOTAL_SIZE_ASM_F1   2600    // 25 * 104
             #define ASM_F1_INDICE_START 6       // 104 bins
             #define ASM_F1_INDICE_STOP  109     // 2 packets of 52 bins
             //
             #define NB_BINS_PER_ASM_F2  96
             #define NB_BINS_PER_PKT_ASM_F2  48
             #define TOTAL_SIZE_ASM_F2   2400    // 25 * 96
             #define ASM_F2_INDICE_START 7       // 96 bins
             #define ASM_F2_INDICE_STOP  102     // 2 packets of 48 bins
             //
             #define NB_BINS_COMPRESSED_SM_F0 11
             #define NB_BINS_COMPRESSED_SM_F1 13
             #define NB_BINS_COMPRESSED_SM_F2 12
             //
             #define NB_BINS_TO_AVERAGE_ASM_F0 8
             #define NB_BINS_TO_AVERAGE_ASM_F1 8
             #define NB_BINS_TO_AVERAGE_ASM_F2 8
             //
             #define TOTAL_SIZE_COMPRESSED_ASM_F0 275 // 11 * 25
             #define TOTAL_SIZE_COMPRESSED_ASM_F1 325 // 13 * 25
             #define TOTAL_SIZE_COMPRESSED_ASM_F2 300 // 12 * 25
             #define NB_AVERAGE_NORMAL_f0 96*4
             #define NB_SM_TO_RECEIVE_BEFORE_AVF0 8
             typedef struct {
                 volatile unsigned char PE[2];
                 volatile unsigned char PB[2];
                 volatile unsigned char V0;
                 volatile unsigned char V1;
                 volatile unsigned char V2_ELLIP_DOP;
                 volatile unsigned char SZ;
                 volatile unsigned char VPHI;
             } BP1_t;
             #endif // FSW_PARAMS_PROCESSING_H

header/fsw_processing.h 0 -1

             #ifndef FSW_PROCESSING_H_INCLUDED
             #define FSW_PROCESSING_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <math.h>
             #include <stdlib.h> // abs() is in the stdlib
             #include <stdio.h>  // printf()
             #include <math.h>
             #include "fsw_params.h"
             #include "fsw_spacewire.h"
-            #include "basic_parameters.h"
             extern volatile int sm_f0[ ];
             extern volatile int sm_f1[ ];
             extern volatile int sm_f2[ ];
             // parameters
             extern struct param_local_str param_local;
             // registers
             extern time_management_regs_t *time_management_regs;
             extern spectral_matrix_regs_t *spectral_matrix_regs;
             extern rtems_name  misc_name[5];
             extern rtems_id    Task_id[20];         /* array of task ids */
             void init_sm_rings( void );
             void reset_current_sm_ring_nodes( void );
             // ISR
             void reset_nb_sm_f0( void );
             rtems_isr spectral_matrices_isr( rtems_vector_number vector );
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector );
             // RTEMS TASKS
             rtems_task avf0_task(rtems_task_argument argument);
             rtems_task smiq_task(rtems_task_argument argument); // added to test the spectral matrix simulator
             rtems_task matr_task(rtems_task_argument argument);
             void matrix_reset(volatile float *averaged_spec_mat);
             void BP1_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1);
             void BP2_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat);
             //
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header);
             void ASM_reorganize( float *averaged_spec_mat, float *averaged_spec_mat_reorganized );
             void ASM_compress( float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat );
             void ASM_convert(volatile float *input_matrix, char *output_matrix);
             void ASM_send(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send, rtems_id queue_id);
             void fill_averaged_spectral_matrix( void );
             void reset_spectral_matrix_regs();
             #endif // FSW_PROCESSING_H_INCLUDED

header/grlib_regs.h +10 -5

             #ifndef GRLIB_REGS_H_INCLUDED
             #define GRLIB_REGS_H_INCLUDED
             #define NB_GPTIMER 3
             struct apbuart_regs_str{
                 volatile unsigned int data;
                 volatile unsigned int status;
                 volatile unsigned int ctrl;
                 volatile unsigned int scaler;
                 volatile unsigned int fifoDebug;
             };
-            struct ahbuart_regs_str{
+            struct grgpio_regs_str{
-                volatile unsigned int unused;
+                volatile int io_port_data_register;
-                volatile unsigned int status;
+                int io_port_output_register;
-                volatile unsigned int ctrl;
+                int io_port_direction_register;
-                volatile unsigned int scaler;
+                int interrupt_mak_register;
+                int interrupt_polarity_register;
+                int interrupt_edge_register;
+                int bypass_register;
+                int reserved;
+                // 0x20-0x3c interrupt map register(s)
             };
             typedef struct {
                 volatile unsigned int counter;
                 volatile unsigned int reload;
                 volatile unsigned int ctrl;
                 volatile unsigned int unused;
             } timer_regs_t;
             typedef struct {
                 volatile unsigned int scaler_value;
                 volatile unsigned int scaler_reload;
                 volatile unsigned int conf;
                 volatile unsigned int unused0;
                 timer_regs_t timer[NB_GPTIMER];
             } gptimer_regs_t;
             typedef struct {
                 volatile int ctrl; // bit 0 forces the load of the coarse_time_load value and resets the fine_time
                 volatile int coarse_time_load;
                 volatile int coarse_time;
                 volatile int fine_time;
             } time_management_regs_t;
             typedef struct {
                 volatile int data_shaping;      // 0x00 00      *** R1 R0 SP1 SP0 BW
                 volatile int burst_enable;      // 0x04 01      *** burst f2, f1, f0     enable f3, f2, f1, f0
                 volatile int addr_data_f0;      // 0x08 10      ***
                 volatile int addr_data_f1;      // 0x0c 11      ***
                 volatile int addr_data_f2;      // 0x10 100     ***
                 volatile int addr_data_f3;      // 0x14 101     ***
                 volatile int status;            // 0x18 110     ***
                 volatile int delta_snapshot;    // 0x1c 111     ***
                 volatile int delta_f2_f1;       // 0x20 0000    ***
                 volatile int delta_f2_f0;       // 0x24 0001    ***
                 volatile int nb_burst_available;// 0x28 0010    ***
                 volatile int nb_snapshot_param; // 0x2c 0011    ***
             } waveform_picker_regs_t;
             typedef struct{
                 int data_shaping; // 0x00 00 *** R1 R0 SP1 SP0 BW
                 int run_burst_enable; // 0x04 01 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 int addr_data_f0; // 0x08
                 int addr_data_f1; // 0x0c
                 int addr_data_f2; // 0x10
                 int addr_data_f3; // 0x14
                 volatile int status; // 0x18
                 int delta_snapshot; // 0x1c
                 int delta_f0; // 0x20
                 int delta_f0_2; // 0x24
                 int delta_f1; // 0x28
                 int delta_f2; // 0x2c
                 int nb_data_by_buffer; // 0x30
                 int snapshot_param; // 0x34
                 int start_date; // 0x38
                 int nb_word_in_buffer; // 0x3c
             } waveform_picker_regs_new_t;
             typedef struct {
                 volatile int config;
                 volatile int status;
                 volatile int matrixF0_Address0;
                 volatile int matrixFO_Address1;
                 volatile int matrixF1_Address;
                 volatile int matrixF2_Address;
                 volatile int coarse_time_F0_0;
                 volatile int coarse_time_F0_1;
                 volatile int coarse_time_F1;
                 volatile int coarse_time_F2;
                 volatile int fine_time_FO_0;
                 volatile int fine_time_F0_1;
                 volatile int fine_time_F1;
                 volatile int fine_time_F2;
                 volatile int debug;
             } spectral_matrix_regs_t;
             #endif // GRLIB_REGS_H_INCLUDED

header/tc_handler.h +3 -3

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "tc_load_dump_parameters.h"
             #include "tc_acceptance.h"
             #include "tm_lfr_tc_exe.h"
             #include "wf_handler.h"
             #include "fsw_processing.h"
             // MODE PARAMETERS
             extern unsigned int maxCount;
             //****
             // ISR
             rtems_isr commutation_isr1( rtems_vector_number vector );
             rtems_isr commutation_isr2( rtems_vector_number vector );
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused );
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time);
             int action_update_time(ccsdsTelecommandPacket_t *TC);
             // mode transition
             int transition_validation(unsigned char requestedMode);
             int stop_current_mode( void );
             int enter_mode(unsigned char mode);
             int restart_science_tasks();
             int suspend_science_tasks();
             void launch_waveform_picker( unsigned char mode );
             void launch_spectral_matrix( unsigned char mode );
             void set_irq_on_new_ready_matrix(unsigned char value );
             void set_run_matrix_spectral( unsigned char value );
             void launch_spectral_matrix_simu( unsigned char mode );
             // other functions
             void updateLFRCurrentMode();
-            void update_last_TC_exe(ccsdsTelecommandPacket_t *TC );
+            void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
-            void update_last_TC_rej(ccsdsTelecommandPacket_t *TC );
+            void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
-            void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
+            void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
             extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
             #endif // TC_HANDLER_H_INCLUDED

src/fsw_processing.c +11 -5

             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include <fsw_processing.h>
             #include "fsw_processing_globals.c"
             //************************
             // spectral matrices rings
             ring_node sm_ring_f0[NB_RING_NODES_ASM_F0];
             ring_node sm_ring_f1[NB_RING_NODES_ASM_F1];
             ring_node sm_ring_f2[NB_RING_NODES_ASM_F2];
             ring_node *current_ring_node_sm_f0;
             ring_node *ring_node_for_averaging_sm_f0;
             ring_node *current_ring_node_sm_f1;
             ring_node *current_ring_node_sm_f2;
             BP1_t data_BP1[ NB_BINS_COMPRESSED_SM_F0 ];
             float averaged_sm_f0            [ TIME_OFFSET + TOTAL_SIZE_SM ];
             float averaged_sm_f0_reorganized[ TIME_OFFSET + TOTAL_SIZE_SM ];
-            char averaged_sm_f0_char        [ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_SM * 2 ];
+            char averaged_sm_f0_char        [ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_SM ];
             float compressed_sm_f0          [ TOTAL_SIZE_COMPRESSED_ASM_F0 ];
+            unsigned char LFR_BP1_F0[ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_BP1_F0 * 2 ];
+            unsigned char LFR_BP1_F1[ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_BP1_F1 ];
+            unsigned char LFR_BP1_F2[ TIME_OFFSET_IN_BYTES + TOTAL_SIZE_BP1_F2 ];
             unsigned int nb_sm_f0;
             void init_sm_rings( void )
             {
                 unsigned char i;
                 // F0 RING
                 sm_ring_f0[0].next            = (ring_node*) &sm_ring_f0[1];
                 sm_ring_f0[0].previous        = (ring_node*) &sm_ring_f0[NB_RING_NODES_ASM_F0-1];
                 sm_ring_f0[0].buffer_address  =
                         (int) &sm_f0[ 0 ];
                 sm_ring_f0[NB_RING_NODES_ASM_F0-1].next           = (ring_node*) &sm_ring_f0[0];
                 sm_ring_f0[NB_RING_NODES_ASM_F0-1].previous       = (ring_node*) &sm_ring_f0[NB_RING_NODES_ASM_F0-2];
                 sm_ring_f0[NB_RING_NODES_ASM_F0-1].buffer_address =
                         (int) &sm_f0[ (NB_RING_NODES_ASM_F0-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_ASM_F0-1; i++)
                 {
                     sm_ring_f0[i].next            = (ring_node*) &sm_ring_f0[i+1];
                     sm_ring_f0[i].previous        = (ring_node*) &sm_ring_f0[i-1];
                     sm_ring_f0[i].buffer_address  =
                             (int) &sm_f0[ i * TOTAL_SIZE_SM ];
                 }
                 // F1 RING
                 sm_ring_f1[0].next            = (ring_node*) &sm_ring_f1[1];
                 sm_ring_f1[0].previous        = (ring_node*) &sm_ring_f1[NB_RING_NODES_ASM_F1-1];
                 sm_ring_f1[0].buffer_address  =
                         (int) &sm_f1[ 0 ];
                 sm_ring_f1[NB_RING_NODES_ASM_F1-1].next           = (ring_node*) &sm_ring_f1[0];
                 sm_ring_f1[NB_RING_NODES_ASM_F1-1].previous       = (ring_node*) &sm_ring_f1[NB_RING_NODES_ASM_F1-2];
                 sm_ring_f1[NB_RING_NODES_ASM_F1-1].buffer_address =
                         (int) &sm_f1[ (NB_RING_NODES_ASM_F1-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_ASM_F1-1; i++)
                 {
                     sm_ring_f1[i].next            = (ring_node*) &sm_ring_f1[i+1];
                     sm_ring_f1[i].previous        = (ring_node*) &sm_ring_f1[i-1];
                     sm_ring_f1[i].buffer_address  =
                             (int) &sm_f1[ i * TOTAL_SIZE_SM ];
                 }
                 // F2 RING
                 sm_ring_f2[0].next            = (ring_node*) &sm_ring_f2[1];
                 sm_ring_f2[0].previous        = (ring_node*) &sm_ring_f2[NB_RING_NODES_ASM_F2-1];
                 sm_ring_f2[0].buffer_address  =
                         (int) &sm_f2[ 0 ];
                 sm_ring_f2[NB_RING_NODES_ASM_F2-1].next           = (ring_node*) &sm_ring_f2[0];
                 sm_ring_f2[NB_RING_NODES_ASM_F2-1].previous       = (ring_node*) &sm_ring_f2[NB_RING_NODES_ASM_F2-2];
                 sm_ring_f2[NB_RING_NODES_ASM_F2-1].buffer_address =
                         (int) &sm_f2[ (NB_RING_NODES_ASM_F2-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_ASM_F2-1; i++)
                 {
                     sm_ring_f2[i].next            = (ring_node*) &sm_ring_f2[i+1];
                     sm_ring_f2[i].previous        = (ring_node*) &sm_ring_f2[i-1];
                     sm_ring_f2[i].buffer_address  =
                             (int) &sm_f2[ i * TOTAL_SIZE_SM ];
                 }
                 DEBUG_PRINTF1("asm_ring_f0 @%x\n", (unsigned int) sm_ring_f0)
                 DEBUG_PRINTF1("asm_ring_f1 @%x\n", (unsigned int) sm_ring_f1)
                 DEBUG_PRINTF1("asm_ring_f2 @%x\n", (unsigned int) sm_ring_f2)
                 spectral_matrix_regs->matrixF0_Address0 = sm_ring_f0[0].buffer_address;
                 DEBUG_PRINTF1("spectral_matrix_regs->matrixF0_Address0 @%x\n", spectral_matrix_regs->matrixF0_Address0)
             }
             void reset_current_sm_ring_nodes( void )
             {
                 current_ring_node_sm_f0 = sm_ring_f0;
                 current_ring_node_sm_f1 = sm_ring_f1;
                 current_ring_node_sm_f2 = sm_ring_f2;
                 ring_node_for_averaging_sm_f0   = sm_ring_f0;
             }
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             void reset_nb_sm_f0( void )
             {
                 nb_sm_f0 = 0;
             }
             rtems_isr spectral_matrices_isr( rtems_vector_number vector )
             {
                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                 if ( (spectral_matrix_regs->status & 0x1) == 0x01)
                 {
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->matrixF0_Address0 = current_ring_node_sm_f0->buffer_address;
                     spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffe;   // 1110
                     nb_sm_f0 = nb_sm_f0 + 1;
                 }
                 else if ( (spectral_matrix_regs->status & 0x2) == 0x02)
                 {
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->matrixFO_Address1 = current_ring_node_sm_f0->buffer_address;
                     spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffffd;   // 1101
                     nb_sm_f0 = nb_sm_f0 + 1;
                 }
                 if ( (spectral_matrix_regs->status & 0x30) != 0x00)
                 {
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                     spectral_matrix_regs->status = spectral_matrix_regs->status & 0xffffffcf;   // 1100 1111
                 }
                 spectral_matrix_regs->status = spectral_matrix_regs->status & 0xfffffff3;   // 0011
                 if (nb_sm_f0 == (NB_SM_TO_RECEIVE_BEFORE_AVF0-1) )
                 {
                     ring_node_for_averaging_sm_f0 = current_ring_node_sm_f0;
                     if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm_f0 = 0;
                 }
                 else
                 {
                     nb_sm_f0 = nb_sm_f0 + 1;
                 }
             }
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
             {
                 if (nb_sm_f0 == (NB_SM_TO_RECEIVE_BEFORE_AVF0-1) )
                 {
                     ring_node_for_averaging_sm_f0 = current_ring_node_sm_f0;
                     if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm_f0 = 0;
                 }
                 else
                 {
                     nb_sm_f0 = nb_sm_f0 + 1;
                 }
             }
             //************
             // RTEMS TASKS
             rtems_task smiq_task(rtems_task_argument argument) // process the Spectral Matrices IRQ
             {
                 rtems_event_set event_out;
                 BOOT_PRINTF("in SMIQ *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                 }
             }
             rtems_task avf0_task(rtems_task_argument argument)
             {
                 int i;
                 static int nb_average;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 ring_node *ring_node_tab[8];
                 nb_average = 0;
                 BOOT_PRINTF("in AVFO *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     ring_node_tab[NB_SM_TO_RECEIVE_BEFORE_AVF0-1] = ring_node_for_averaging_sm_f0;
                     for (i=2; i<NB_SM_TO_RECEIVE_BEFORE_AVF0+1; i++)
                     {
                         ring_node_for_averaging_sm_f0 = ring_node_for_averaging_sm_f0->previous;
                         ring_node_tab[NB_SM_TO_RECEIVE_BEFORE_AVF0-i] = ring_node_for_averaging_sm_f0;
                     }
                     averaged_sm_f0[0] = ( (int *) (ring_node_tab[7]->buffer_address) ) [0];
                     averaged_sm_f0[1] = ( (int *) (ring_node_tab[7]->buffer_address) ) [1];
                     for(i=0; i<TOTAL_SIZE_SM; i++)
                     {
                         averaged_sm_f0[i] = ( (int *) (ring_node_tab[0]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[1]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[2]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[3]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[4]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[5]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[6]->buffer_address) ) [i + TIME_OFFSET]
                                 + ( (int *) (ring_node_tab[7]->buffer_address) ) [i + TIME_OFFSET];
                     }
                     nb_average = nb_average + NB_SM_TO_RECEIVE_BEFORE_AVF0;
                     if (nb_average == NB_AVERAGE_NORMAL_f0) {
                         nb_average = 0;
                         status = rtems_event_send( Task_id[TASKID_MATR], RTEMS_EVENT_0 ); // sending an event to the task 7, BPF0
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("in AVF0 *** Error sending RTEMS_EVENT_0, code %d\n", status);
                         }
                     }
                 }
             }
             rtems_task matr_task(rtems_task_argument argument)
             {
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id;
                 Header_TM_LFR_SCIENCE_ASM_t headerASM;
                 init_header_asm( &headerASM );
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in MATR *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in MATR *** \n")
                 fill_averaged_spectral_matrix( );
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     // 1)  compress the matrix for Basic Parameters calculation
                     ASM_compress( averaged_sm_f0, 0, compressed_sm_f0 );
                     // 2)
-                    //BP1_set(compressed_sm_f0, NB_BINS_COMPRESSED_SM_F0, LFR_BP1_F0);
+            //        BP1_set( (float *) &compressed_sm_f0[TIME_OFFSET], NB_BINS_COMPRESSED_SM_F0, (unsigned char *) &LFR_BP1_F0[TIME_OFFSET_IN_BYTES] );
                     // 3) convert the float array in a char array
                     ASM_reorganize( averaged_sm_f0, averaged_sm_f0_reorganized );
                     ASM_convert( averaged_sm_f0_reorganized, averaged_sm_f0_char);
                     // 4) send the spectral matrix packets
                     ASM_send( &headerASM, averaged_sm_f0_char, SID_NORM_ASM_F0, &spw_ioctl_send_ASM, queue_id);
                 }
             }
             //*****************************
             // Spectral matrices processing
             void matrix_reset(volatile float *averaged_spec_mat)
             {
                 int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++){
                     averaged_spec_mat[i] = 0;
                 }
             }
             void ASM_reorganize( float *averaged_spec_mat, float *averaged_spec_mat_reorganized )
             {
                 int frequencyBin;
                 int asmComponent;
                 // copy the time information
                 averaged_spec_mat_reorganized[ 0 ] = averaged_spec_mat[ 0 ];
                 averaged_spec_mat_reorganized[ 1 ] = averaged_spec_mat[ 1 ];
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < NB_BINS_PER_SM; frequencyBin++ )
                     {
                         averaged_spec_mat_reorganized[ frequencyBin * NB_VALUES_PER_SM + asmComponent + TIME_OFFSET ] =
                                 averaged_spec_mat[ asmComponent * NB_BINS_PER_SM + frequencyBin + TIME_OFFSET];
                     }
                 }
             }
             void ASM_compress( float *averaged_spec_mat, unsigned char fChannel, float *compressed_spec_mat )
             {
                 int frequencyBin;
                 int asmComponent;
                 int offsetASM;
                 int offsetCompressed;
                 int k;
                 switch (fChannel){
                 case 0:
                     for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                     {
                         for( frequencyBin = 0; frequencyBin < NB_BINS_COMPRESSED_SM_F0; frequencyBin++ )
                         {
-                            offsetASM = asmComponent * NB_BINS_PER_SM
+                            offsetCompressed = TIME_OFFSET
+                                    + frequencyBin * NB_VALUES_PER_SM
+                                    + asmComponent;
+                            offsetASM = TIME_OFFSET
+                                    + asmComponent * NB_BINS_PER_SM
                                     + ASM_F0_INDICE_START
                                     + frequencyBin * NB_BINS_TO_AVERAGE_ASM_F0;
-                            offsetCompressed = frequencyBin * NB_VALUES_PER_SM
-                                    + asmComponent;
                             compressed_spec_mat[ offsetCompressed ] = 0;
                             for ( k = 0; k < NB_BINS_TO_AVERAGE_ASM_F0; k++ )
                             {
                                 compressed_spec_mat[offsetCompressed ] =
                                         compressed_spec_mat[ offsetCompressed ]
                                         + averaged_spec_mat[ offsetASM + k ];
                             }
                         }
                     }
                     break;
                 case 1:
                         // case fChannel = f1 to be completed later
                     break;
                 case 2:
                         // case fChannel = f1 to be completed later
                     break;
                 default:
                     break;
                 }
             }
             void ASM_convert( volatile float *input_matrix, char *output_matrix)
             {
                 unsigned int i;
                 unsigned int frequencyBin;
                 unsigned int asmComponent;
                 char * pt_char_input;
                 char * pt_char_output;
                 pt_char_input = (char*) &input_matrix;
                 pt_char_output = (char*) &output_matrix;
                 // copy the time information
                 for (i=0; i<TIME_OFFSET_IN_BYTES; i++)
                 {
                     pt_char_output[ i ] = pt_char_output[ i ];
                 }
                 // convert all other data
                 for( frequencyBin=0; frequencyBin<NB_BINS_PER_SM; frequencyBin++)
                 {
                     for ( asmComponent=0; asmComponent<NB_VALUES_PER_SM; asmComponent++)
                     {
                         pt_char_input =  (char*) &input_matrix [       (frequencyBin*NB_VALUES_PER_SM) + asmComponent   + TIME_OFFSET ];
                         pt_char_output = (char*) &output_matrix[ 2 * ( (frequencyBin*NB_VALUES_PER_SM) + asmComponent ) + TIME_OFFSET_IN_BYTES ];
                         pt_char_output[0] = pt_char_input[0];   // bits 31 downto 24 of the float
                         pt_char_output[1] = pt_char_input[1];   // bits 23 downto 16 of the float
                     }
                 }
             }
             void ASM_send(Header_TM_LFR_SCIENCE_ASM_t *header, char *spectral_matrix,
                                 unsigned int sid, spw_ioctl_pkt_send *spw_ioctl_send, rtems_id queue_id)
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 for (i=0; i<2; i++)
                 {
                     // (1) BUILD THE DATA
                     switch(sid)
                     {
                     case SID_NORM_ASM_F0:
                         spw_ioctl_send->dlen = TOTAL_SIZE_ASM_F0_IN_BYTES / 2;
                         spw_ioctl_send->data = &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0) ) * NB_VALUES_PER_SM ) * 2
                                 + TIME_OFFSET_IN_BYTES
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0);        // BLK_NR LSB
                         break;
                     case SID_NORM_ASM_F1:
                         break;
                     case SID_NORM_ASM_F2:
                         break;
                     default:
                         PRINTF1("ERR *** in ASM_send *** unexpected sid %d\n", sid)
                         break;
                     }
                     spw_ioctl_send->hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM + CCSDS_PROTOCOLE_EXTRA_BYTES;
                     spw_ioctl_send->hdr = (char *) header;
                     spw_ioctl_send->options = 0;
                     // (2) BUILD THE HEADER
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 2;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     header->time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     header->time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     header->time[3] = (unsigned char) (time_management_regs->coarse_time);
                     header->time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     header->time[5] = (unsigned char) (time_management_regs->fine_time);
                     //
                     header->acquisitionTime[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     header->acquisitionTime[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     header->acquisitionTime[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     header->acquisitionTime[3] = (unsigned char) (time_management_regs->coarse_time);
                     header->acquisitionTime[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     header->acquisitionTime[5] = (unsigned char) (time_management_regs->fine_time);
                     // (4) SEND PACKET
                     status =  rtems_message_queue_send( queue_id, spw_ioctl_send, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in ASM_send *** ERR %d\n", (int) status);
                     }
                 }
             }
             void BP1_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat, unsigned char * LFR_BP1){
                 int i;
                 int j;
                 unsigned char tmp_u_char;
                 unsigned char * pt_char = NULL;
                 float PSDB, PSDE;
                 float NVEC_V0;
                 float NVEC_V1;
                 float NVEC_V2;
                 //float significand;
                 //int exponent;
                 float aux;
                 float tr_SB_SB;
                 float tmp;
                 float sx_re;
                 float sx_im;
                 float nebx_re = 0;
                 float nebx_im = 0;
                 float ny = 0;
                 float nz = 0;
                 float bx_bx_star = 0;
                 for(i=0; i<nb_bins_compressed_spec_mat; i++){
                     //==============================================
                     // BP1 PSD == B PAR_LFR_SC_BP1_PE_FL0 == 16 bits
                     PSDB = compressed_spec_mat[i*30]      // S11
                         + compressed_spec_mat[(i*30) + 10]    // S22
                         + compressed_spec_mat[(i*30) + 18];   // S33
                     //significand = frexp(PSDB, &exponent);
                     pt_char = (unsigned char*) &PSDB;
                     LFR_BP1[(i*9) + 2] = pt_char[0]; // bits 31 downto 24 of the float
                     LFR_BP1[(i*9) + 3] = pt_char[1];  // bits 23 downto 16 of the float
                     //==============================================
                     // BP1 PSD == E PAR_LFR_SC_BP1_PB_FL0 == 16 bits
                     PSDE = compressed_spec_mat[(i*30) + 24] * K44_pe     // S44
                         + compressed_spec_mat[(i*30) + 28] * K55_pe      // S55
                         + compressed_spec_mat[(i*30) + 26] * K45_pe_re   // S45
                         - compressed_spec_mat[(i*30) + 27] * K45_pe_im;  // S45
                     pt_char = (unsigned char*) &PSDE;
                     LFR_BP1[(i*9) + 0] = pt_char[0]; // bits 31 downto 24 of the float
                     LFR_BP1[(i*9) + 1] = pt_char[1]; // bits 23 downto 16 of the float
                     //==============================================================================
                     // BP1 normal wave vector == PAR_LFR_SC_BP1_NVEC_V0_F0 == 8 bits
                                            // == PAR_LFR_SC_BP1_NVEC_V1_F0 == 8 bits
                                            // == PAR_LFR_SC_BP1_NVEC_V2_F0 == 1 bits
                     tmp = sqrt(
                                 compressed_spec_mat[(i*30) + 3]*compressed_spec_mat[(i*30) + 3]     //Im S12
                                 +compressed_spec_mat[(i*30) + 5]*compressed_spec_mat[(i*30) + 5]    //Im S13
                                 +compressed_spec_mat[(i*30) + 13]*compressed_spec_mat[(i*30) + 13]   //Im S23
                                 );
                     NVEC_V0 = compressed_spec_mat[(i*30) + 13] / tmp;  // Im S23
                     NVEC_V1 = -compressed_spec_mat[(i*30) + 5] / tmp;  // Im S13
                     NVEC_V2 = compressed_spec_mat[(i*30) + 3] / tmp;   // Im S12
                     LFR_BP1[(i*9) + 4] = (char) (NVEC_V0*127);
                     LFR_BP1[(i*9) + 5] = (char) (NVEC_V1*127);
                     pt_char = (unsigned char*) &NVEC_V2;
                     LFR_BP1[(i*9) + 6] = pt_char[0] & 0x80;  // extract the sign of NVEC_V2
                     //=======================================================
                     // BP1 ellipticity == PAR_LFR_SC_BP1_ELLIP_F0   == 4 bits
                     aux = 2*tmp / PSDB;                                             // compute the ellipticity
                     tmp_u_char = (unsigned char) (aux*(16-1));                      // convert the ellipticity
                     LFR_BP1[i*9+6] = LFR_BP1[i*9+6] | ((tmp_u_char&0x0f)<<3); // keeps 4 bits of the resulting unsigned char
                     //==============================================================
                     // BP1 degree of polarization == PAR_LFR_SC_BP1_DOP_F0 == 3 bits
                     for(j = 0; j<NB_VALUES_PER_SM;j++){
                         tr_SB_SB = compressed_spec_mat[i*30] * compressed_spec_mat[i*30]
                                 + compressed_spec_mat[(i*30) + 10] * compressed_spec_mat[(i*30) + 10]
                                 + compressed_spec_mat[(i*30) + 18] * compressed_spec_mat[(i*30) + 18]
                                 + 2 * compressed_spec_mat[(i*30) + 2] * compressed_spec_mat[(i*30) + 2]
                                 + 2 * compressed_spec_mat[(i*30) + 3] * compressed_spec_mat[(i*30) + 3]
                                 + 2 * compressed_spec_mat[(i*30) + 4] * compressed_spec_mat[(i*30) + 4]
                                 + 2 * compressed_spec_mat[(i*30) + 5] * compressed_spec_mat[(i*30) + 5]
                                 + 2 * compressed_spec_mat[(i*30) + 12] * compressed_spec_mat[(i*30) + 12]
                                 + 2 * compressed_spec_mat[(i*30) + 13] * compressed_spec_mat[(i*30) + 13];
                     }
                     aux = PSDB*PSDB;
                     tmp = sqrt( abs( ( 3*tr_SB_SB - aux ) / ( 2 * aux ) ) );
                     tmp_u_char = (unsigned char) (NVEC_V0*(8-1));
                     LFR_BP1[(i*9) + 6] = LFR_BP1[(i*9) + 6] | (tmp_u_char & 0x07); // keeps 3 bits of the resulting unsigned char
                     //=======================================================================================
                     // BP1 x-component of the normalized Poynting flux == PAR_LFR_SC_BP1_SZ_F0 == 8 bits (7+1)
                     sx_re = compressed_spec_mat[(i*30) + 20] * K34_sx_re
                                     + compressed_spec_mat[(i*30) + 6] * K14_sx_re
                                     + compressed_spec_mat[(i*30) + 8] * K15_sx_re
                                     + compressed_spec_mat[(i*30) + 14] * K24_sx_re
                                     + compressed_spec_mat[(i*30) + 16] * K25_sx_re
                                     + compressed_spec_mat[(i*30) + 22] * K35_sx_re;
                     sx_im = compressed_spec_mat[(i*30) + 21] * K34_sx_im
                                     + compressed_spec_mat[(i*30) + 7] * K14_sx_im
                                     + compressed_spec_mat[(i*30) + 9] * K15_sx_im
                                     + compressed_spec_mat[(i*30) + 15] * K24_sx_im
                                     + compressed_spec_mat[(i*30) + 17] * K25_sx_im
                                     + compressed_spec_mat[(i*30) + 23] * K35_sx_im;
                     LFR_BP1[(i*9) + 7] = ((unsigned char) (sx_re * 128)) & 0x7f; // cf DOC for the compression
                     if ( abs(sx_re) > abs(sx_im) ) {
                         LFR_BP1[(i*9) + 7] = LFR_BP1[(i*9) + 1] | (0x80);  // extract the sector of sx
                     }
                     else {
                         LFR_BP1[(i*9) + 7] = LFR_BP1[(i*9) + 1] & (0x7f);  // extract the sector of sx
                     }
                     //======================================================================
                     // BP1 phase velocity estimator == PAR_LFR_SC_BP1_VPHI_F0 == 8 bits (7+1)
                     ny = sin(Alpha_M)*NVEC_V1 + cos(Alpha_M)*NVEC_V2;
                     nz = NVEC_V0;
                     bx_bx_star = cos(Alpha_M) * cos(Alpha_M) * compressed_spec_mat[i*30+10]            // re S22
                                     + sin(Alpha_M) * sin(Alpha_M) * compressed_spec_mat[i*30+18]       // re S33
                                     - 2 * sin(Alpha_M) * cos(Alpha_M) * compressed_spec_mat[i*30+12];  // re S23
                     nebx_re = ny * (compressed_spec_mat[(i*30) + 14] * K24_ny_re
                                                     +compressed_spec_mat[(i*30) + 16] * K25_ny_re
                                                     +compressed_spec_mat[(i*30) + 20] * K34_ny_re
                                                     +compressed_spec_mat[(i*30) + 22] * K35_ny_re)
                                             + nz * (compressed_spec_mat[(i*30) + 14] * K24_nz_re
                                                     +compressed_spec_mat[(i*30) + 16] * K25_nz_re
                                                     +compressed_spec_mat[(i*30) + 20] * K34_nz_re
                                                     +compressed_spec_mat[(i*30) + 22] * K35_nz_re);
                     nebx_im = ny * (compressed_spec_mat[(i*30) + 15]*K24_ny_re
                                                     +compressed_spec_mat[(i*30) + 17] * K25_ny_re
                                                     +compressed_spec_mat[(i*30) + 21] * K34_ny_re
                                                     +compressed_spec_mat[(i*30) + 23] * K35_ny_re)
                                             + nz * (compressed_spec_mat[(i*30) + 15] * K24_nz_im
                                                     +compressed_spec_mat[(i*30) + 17] * K25_nz_im
                                                     +compressed_spec_mat[(i*30) + 21] * K34_nz_im
                                                     +compressed_spec_mat[(i*30) + 23] * K35_nz_im);
                     tmp = nebx_re / bx_bx_star;
                     LFR_BP1[(i*9) + 8] = ((unsigned char) (tmp * 128)) & 0x7f; // cf DOC for the compression
                     if ( abs(nebx_re) > abs(nebx_im) ) {
                         LFR_BP1[(i*9) + 8] = LFR_BP1[(i*9) + 8] | (0x80);  // extract the sector of nebx
                     }
                     else {
                         LFR_BP1[(i*9) + 8] = LFR_BP1[(i*9) + 8] & (0x7f);  // extract the sector of nebx
                     }
                 }
             }
             void BP2_set_old(float * compressed_spec_mat, unsigned char nb_bins_compressed_spec_mat){
                 // BP2 autocorrelation
                 int i;
                 int aux = 0;
                 for(i = 0; i<nb_bins_compressed_spec_mat; i++){
                     // S12
                     aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30) + 10]);
                     compressed_spec_mat[(i*30) + 2] = compressed_spec_mat[(i*30) + 2] / aux;
                     compressed_spec_mat[(i*30) + 3] = compressed_spec_mat[(i*30) + 3] / aux;
                     // S13
                     aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30) + 18]);
                     compressed_spec_mat[(i*30) + 4] = compressed_spec_mat[(i*30) + 4] / aux;
                     compressed_spec_mat[(i*30) + 5] = compressed_spec_mat[(i*30) + 5] / aux;
                     // S23
                     aux = sqrt(compressed_spec_mat[i*30+12]*compressed_spec_mat[(i*30) + 18]);
                     compressed_spec_mat[(i*30) + 12] = compressed_spec_mat[(i*30) + 12] / aux;
                     compressed_spec_mat[(i*30) + 13] = compressed_spec_mat[(i*30) + 13] / aux;
                     // S45
                     aux = sqrt(compressed_spec_mat[i*30+24]*compressed_spec_mat[(i*30) + 28]);
                     compressed_spec_mat[(i*30) + 26] = compressed_spec_mat[(i*30) + 26] / aux;
                     compressed_spec_mat[(i*30) + 27] = compressed_spec_mat[(i*30) + 27] / aux;
                     // S14
                     aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30)  +24]);
                     compressed_spec_mat[(i*30) + 6] = compressed_spec_mat[(i*30) + 6] / aux;
                     compressed_spec_mat[(i*30) + 7] = compressed_spec_mat[(i*30) + 7] / aux;
                     // S15
                     aux = sqrt(compressed_spec_mat[i*30]*compressed_spec_mat[(i*30) + 28]);
                     compressed_spec_mat[(i*30) + 8] = compressed_spec_mat[(i*30) + 8] / aux;
                     compressed_spec_mat[(i*30) + 9] = compressed_spec_mat[(i*30) + 9] / aux;
                     // S24
                     aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[(i*30) + 24]);
                     compressed_spec_mat[(i*30) + 14] = compressed_spec_mat[(i*30) + 14] / aux;
                     compressed_spec_mat[(i*30) + 15] = compressed_spec_mat[(i*30) + 15] / aux;
                     // S25
                     aux = sqrt(compressed_spec_mat[i*10]*compressed_spec_mat[(i*30) + 28]);
                     compressed_spec_mat[(i*30) + 16] = compressed_spec_mat[(i*30) + 16] / aux;
                     compressed_spec_mat[(i*30) + 17] = compressed_spec_mat[(i*30) + 17] / aux;
                     // S34
                     aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[(i*30) + 24]);
                     compressed_spec_mat[(i*30) + 20] = compressed_spec_mat[(i*30) + 20] / aux;
                     compressed_spec_mat[(i*30) + 21] = compressed_spec_mat[(i*30) + 21] / aux;
                     // S35
                     aux = sqrt(compressed_spec_mat[i*18]*compressed_spec_mat[(i*30) + 28]);
                     compressed_spec_mat[(i*30) + 22] = compressed_spec_mat[(i*30) + 22] / aux;
                     compressed_spec_mat[(i*30) + 23] = compressed_spec_mat[(i*30) + 23] / aux;
                 }
             }
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header)
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0] = 0xc0;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2 = 0x10;
                 header->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                 header->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 header->sid = 0x00;
                 header->biaStatusInfo = 0x00;
                 header->pa_lfr_pkt_cnt_asm = 0x00;
                 header->pa_lfr_pkt_nr_asm = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->pa_lfr_asm_blk_nr[0] = 0x00;  // BLK_NR MSB
                 header->pa_lfr_asm_blk_nr[1] = 0x00;  // BLK_NR LSB
             }
             void fill_averaged_spectral_matrix(void)
             {
                 /** This function fills spectral matrices related buffers with arbitrary data.
                  *
                  *  This function is for testing purpose only.
                  *
                  */
                 float offset;
                 float coeff;
                 offset = 10.;
                 coeff = 100000.;
                 averaged_sm_f0[ 0 + 25 * 0  ] = 0. + offset;
                 averaged_sm_f0[ 0 + 25 * 1  ] = 1. + offset;
                 averaged_sm_f0[ 0 + 25 * 2  ] = 2. + offset;
                 averaged_sm_f0[ 0 + 25 * 3  ] = 3. + offset;
                 averaged_sm_f0[ 0 + 25 * 4  ] = 4. + offset;
                 averaged_sm_f0[ 0 + 25 * 5  ] = 5. + offset;
                 averaged_sm_f0[ 0 + 25 * 6  ] = 6. + offset;
                 averaged_sm_f0[ 0 + 25 * 7  ] = 7. + offset;
                 averaged_sm_f0[ 0 + 25 * 8  ] = 8. + offset;
                 averaged_sm_f0[ 0 + 25 * 9  ] = 9. + offset;
                 averaged_sm_f0[ 0 + 25 * 10 ] = 10. + offset;
                 averaged_sm_f0[ 0 + 25 * 11 ] = 11. + offset;
                 averaged_sm_f0[ 0 + 25 * 12 ] = 12. + offset;
                 averaged_sm_f0[ 0 + 25 * 13 ] = 13. + offset;
                 averaged_sm_f0[ 0 + 25 * 14 ] = 14. + offset;
                 averaged_sm_f0[ 9 + 25 * 0  ] = -(0. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 1  ] = -(1. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 2  ] = -(2. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 3  ] = -(3. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 4  ] = -(4. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 5  ] = -(5. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 6  ] = -(6. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 7  ] = -(7. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 8  ] = -(8. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 9  ] = -(9. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 10 ] = -(10. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 11 ] = -(11. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 12 ] = -(12. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 13 ] = -(13. + offset)* coeff;
                 averaged_sm_f0[ 9 + 25 * 14 ] = -(14. + offset)* coeff;
                 offset = 10000000;
                 averaged_sm_f0[ 16 + 25 * 0  ] = (0. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 1  ] = (1. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 2  ] = (2. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 3  ] = (3. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 4  ] = (4. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 5  ] = (5. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 6  ] = (6. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 7  ] = (7. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 8  ] = (8. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 9  ] = (9. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 10 ] = (10. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 11 ] = (11. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 12 ] = (12. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 13 ] = (13. + offset)* coeff;
                 averaged_sm_f0[ 16 + 25 * 14 ] = (14. + offset)* coeff;
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 0 ] = averaged_sm_f0[ 0 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 1 ] = averaged_sm_f0[ 1 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 2 ] = averaged_sm_f0[ 2 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 3 ] = averaged_sm_f0[ 3 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 4 ] = averaged_sm_f0[ 4 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 5 ] = averaged_sm_f0[ 5 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 6 ] = averaged_sm_f0[ 6 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 7 ] = averaged_sm_f0[ 7 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 8 ] = averaged_sm_f0[ 8 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 9 ] = averaged_sm_f0[ 9 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 10 ] = averaged_sm_f0[ 10 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 11 ] = averaged_sm_f0[ 11 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 12 ] = averaged_sm_f0[ 12 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 13 ] = averaged_sm_f0[ 13 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 14 ] = averaged_sm_f0[ 14 ];
                 averaged_sm_f0[ (TOTAL_SIZE_SM/2) + 15 ] = averaged_sm_f0[ 15 ];
             }
             void reset_spectral_matrix_regs()
             {
                 /** This function resets the spectral matrices module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  *
                  * - 0x00 config
                  * - 0x04 status
                  * - 0x08 matrixF0_Address0
                  * - 0x10 matrixFO_Address1
                  * - 0x14 matrixF1_Address
                  * - 0x18 matrixF2_Address
                  *
                  */
                 spectral_matrix_regs->config = 0x00;
                 spectral_matrix_regs->status = 0x00;
                 spectral_matrix_regs->matrixF0_Address0 = current_ring_node_sm_f0->buffer_address;
                 spectral_matrix_regs->matrixFO_Address1 = current_ring_node_sm_f0->buffer_address;
                 spectral_matrix_regs->matrixF1_Address = current_ring_node_sm_f1->buffer_address;
                 spectral_matrix_regs->matrixF2_Address = current_ring_node_sm_f2->buffer_address;
             }
             //******************
             // general functions

src/fsw_spacewire.c +16 -6

             /** Functions related to the SpaceWire interface.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle SpaceWire transmissions:
              * - configuration of the SpaceWire link
              * - SpaceWire related interruption requests processing
              * - transmission of TeleMetry packets by a dedicated RTEMS task
              * - reception of TeleCommands by a dedicated RTEMS task
              *
              */
             #include "fsw_spacewire.h"
             rtems_name semq_name;
             rtems_id semq_id;
             //***********
             // RTEMS TASK
             rtems_task spiq_task(rtems_task_argument unused)
             {
                 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in SPIQ *** \n")
                 while(true){
                     rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
                     PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
                     // [0] SUSPEND RECV AND SEND TASKS
                     status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending RECV Task\n")
                     }
                     status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending SEND Task\n")
                     }
                     // [1] CHECK THE LINK
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (1)
                     if ( linkStatus != 5) {
                         PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
                         status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     }
                     // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status (2)
                     if ( linkStatus != 5 )  // [2.a] not in run state, reset the link
                     {
                         spacewire_compute_stats_offsets();
                         status = spacewire_reset_link( );
                     }
                     else                    // [2.b] in run state, start the link
                     {
                         status = spacewire_stop_start_link( fdSPW ); // start the link
                         if ( status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF1("in SPIQ *** ERR spacewire_start_link %d\n", status)
                         }
                     }
                     // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
                     if ( status == RTEMS_SUCCESSFUL )   // [3.a] the link is in run state and has been started successfully
                     {
                         status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming SEND Task\n")
                         }
                         status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                         }
                     }
                     else                                // [3.b] the link is not in run state, go in STANDBY mode
                     {
                         status = stop_current_mode();
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF1("in SPIQ *** ERR stop_current_mode *** code %d\n", status)
                         }
                         status = enter_mode( LFR_MODE_STANDBY );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
                         }
                         // wake the WTDG task up to wait for the link recovery
                         status =  rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
                         status = rtems_task_suspend( RTEMS_SELF );
                     }
                 }
             }
             rtems_task recv_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
                  * 1. It reads the incoming data.
                  * 2. Launches the acceptance procedure.
                  * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
                  *
                  */
                 int len;
                 ccsdsTelecommandPacket_t currentTC;
                 unsigned char computed_CRC[ 2 ];
                 unsigned char currentTC_LEN_RCV[ 2 ];
                 unsigned char destinationID;
                 unsigned int currentTC_LEN_RCV_AsUnsignedInt;
                 unsigned int parserCode;
-                unsigned char time[6];
                 rtems_status_code status;
                 rtems_id queue_recv_id;
                 rtems_id queue_send_id;
                 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                 status =  get_message_queue_id_recv( &queue_recv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                     }
                     else {
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("in RECV *** packet lenght too short\n")
                         }
                         else {
                             currentTC_LEN_RCV_AsUnsignedInt = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             currentTC_LEN_RCV[ 0 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt >> 8);
                             currentTC_LEN_RCV[ 1 ] = (unsigned char) (currentTC_LEN_RCV_AsUnsignedInt     );
                             // CHECK THE TC
                             parserCode = tc_parser( &currentTC, currentTC_LEN_RCV_AsUnsignedInt, computed_CRC ) ;
                             if ( (parserCode == ILLEGAL_APID)       || (parserCode == WRONG_LEN_PKT)
                                  || (parserCode == INCOR_CHECKSUM)  || (parserCode == ILL_TYPE)
                                  || (parserCode == ILL_SUBTYPE)     || (parserCode == WRONG_APP_DATA)
                                  || (parserCode == WRONG_SRC_ID) )
                             { // send TM_LFR_TC_EXE_CORRUPTED
+                                PRINTF1("TC corrupted received, with code: %d\n", parserCode)
                                 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                                      &&
                                      !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
                                      )
                                 {
                                     if ( parserCode == WRONG_SRC_ID )
                                     {
                                         destinationID = SID_TC_GROUND;
                                     }
                                     else
                                     {
                                         destinationID = currentTC.sourceID;
                                     }
-                                    getTime( time );
-                                    close_action( &currentTC, LFR_DEFAULT, queue_send_id );
                                     send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
                                                                   computed_CRC, currentTC_LEN_RCV,
                                                                   destinationID );
                                 }
                             }
                             else
                             { // send valid TC to the action launcher
                                 status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                     currentTC_LEN_RCV_AsUnsignedInt + CCSDS_TC_TM_PACKET_OFFSET + 3);
                             }
                         }
                     }
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;               // RTEMS status code
                 char incomingData[ACTION_MSG_PKTS_MAX_SIZE];  // incoming data buffer
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
                 u_int32_t count;
                 rtems_id queue_id;
                 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 SEND *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_id, incomingData, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (1) ERR = %d\n", status)
                     }
                     else
                     {
                         if ( incomingData[0] == CCSDS_DESTINATION_ID) // the incoming message is a ccsds packet
                         {
                             status = write( fdSPW, incomingData, size );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                             }
                         }
                         else // the incoming message is a spw_ioctl_pkt_send structure
                         {
                             spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
                             status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
                             }
                         }
                     }
                     status = rtems_message_queue_get_number_pending( queue_id, &count );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (3) ERR = %d\n", status)
                     }
                     else
                     {
                         if (count > maxCount)
                         {
                             maxCount = count;
                         }
                     }
                 }
             }
             rtems_task wtdg_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in WTDG ***\n")
                 while(1)
                 {
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("in WTDG *** wait for the link\n")
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);        // get the link status
                     while( linkStatus != 5)                                             // wait for the link
                     {
                         rtems_task_wake_after( 10 );
                         status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status
                     }
                     status = spacewire_stop_start_link( fdSPW );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in WTDG *** ERR link not started %d\n", status)
                     }
                     else
                     {
                         PRINTF("in WTDG *** OK  link started\n")
                     }
                     // restart the SPIQ task
                     status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
                     }
                     // restart RECV and SEND
                     status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SEND Task\n")
                     }
                     status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting RECV Task\n")
                     }
                 }
             }
             //****************
             // OTHER FUNCTIONS
             int spacewire_open_link( void )
             {
                 /** This function opens the SpaceWire link.
                  *
                  * @return a valid file descriptor in case of success, -1 in case of a failure
                  *
                  */
                 rtems_status_code status;
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
                 if ( fdSPW < 0 ) {
                     PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
             int spacewire_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_stop_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_STOP);      // start fails if link pDev->running != 0
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_configure_link( int fd )
             {
                 /** This function configures the SpaceWire link.
                  *
                  * @return GR-RTEMS-DRIVER directive status codes:
                  * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                  * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                  * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                  * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                  * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                  * - 5   EIO - Error when writing to grswp hardware registers.
                  * - 2   ENOENT - No such file or directory
                  */
                 rtems_status_code status;
                 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 0);             // transmission blocks
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);      // transmission blocks when no transmission descriptor is available
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                 return status;
             }
             int spacewire_reset_link( void )
             {
                 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
                  * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
                  *
                  */
                 rtems_status_code status_spw;
                 int i;
                 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
                 {
                     PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
                     // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
                     status_spw = spacewire_stop_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
                     }
                     if ( status_spw == RTEMS_SUCCESSFUL)
                     {
                         break;
                     }
                 }
                 return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & 0xffdfffff;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             void spacewire_compute_stats_offsets( void )
             {
                 /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
                  *
                  * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
                  * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
                  * during the open systel call).
                  *
                  */
                 spw_stats spacewire_stats_grspw;
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
                         + spacewire_stats.packets_received;
                 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
                         + spacewire_stats.packets_sent;
                 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
                         + spacewire_stats.parity_err;
                 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
                         + spacewire_stats.disconnect_err;
                 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
                         + spacewire_stats.escape_err;
                 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
                         + spacewire_stats.credit_err;
                 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
                         + spacewire_stats.write_sync_err;
                 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
                         + spacewire_stats.rx_rmap_header_crc_err;
                 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
                         + spacewire_stats.rx_rmap_data_crc_err;
                 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
                         + spacewire_stats.early_ep;
                 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
                         + spacewire_stats.invalid_address;
                 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
                         + spacewire_stats.rx_eep_err;
                 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
                         + spacewire_stats.rx_truncated;
             }
             void spacewire_update_statistics( void )
             {
                 rtems_status_code status;
                 spw_stats spacewire_stats_grspw;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
                         + spacewire_stats_grspw.packets_received;
                 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
                         + spacewire_stats_grspw.packets_sent;
                 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
                         + spacewire_stats_grspw.parity_err;
                 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
                         + spacewire_stats_grspw.disconnect_err;
                 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
                         + spacewire_stats_grspw.escape_err;
                 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
                         + spacewire_stats_grspw.credit_err;
                 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
                         + spacewire_stats_grspw.write_sync_err;
                 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
                         + spacewire_stats_grspw.rx_rmap_header_crc_err;
                 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
                         + spacewire_stats_grspw.rx_rmap_data_crc_err;
                 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
                         + spacewire_stats_grspw.early_ep;
                 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
                         + spacewire_stats_grspw.invalid_address;
                 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
                         +  spacewire_stats_grspw.rx_eep_err;
                 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
                         + spacewire_stats_grspw.rx_truncated;
                 //spacewire_stats.tx_link_err;
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
                 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
                 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
             }
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
             {
-                //if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 ) != RTEMS_SUCCESSFUL) {
+            //    rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_1 );
-                //    printf("In timecode_irq_handler *** Error sending event to DUMB\n");
+                struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
-                //}
+                grgpio_regs->io_port_direction_register =
+                        grgpio_regs->io_port_direction_register | 0x08; // [0001 1000], 0 = output disabled, 1 = output enabled
+                if ( (grgpio_regs->io_port_output_register & 0x08) == 0x08 )
+                {
+                    grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf7;
+                }
+                else
+                {
+                    grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x08;
+                }
             }
             rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
             {
                 int linkStatus;
                 rtems_status_code status;
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
                 if ( linkStatus == 5) {
                     PRINTF("in spacewire_reset_link *** link is running\n")
                     status = RTEMS_SUCCESSFUL;
                 }
             }

src/tc_handler.c +38 -39

             /** Functions and tasks related to TeleCommand handling.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands:\n
              * action launching\n
              * TC parsing\n
              * ...
              *
              */
             #include "tc_handler.h"
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                  * on the incoming TeleCommand.
                  *
                  */
                 int result;
                 rtems_status_code status;       // RTEMS status code
                 ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
                 size_t size;                    // size of the incoming TC packet
                 unsigned char subtype;          // subtype of the current TC packet
                 unsigned char time[6];
                 rtems_id queue_rcv_id;
                 rtems_id queue_snd_id;
                 status =  get_message_queue_id_recv( &queue_rcv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_snd_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
                 }
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 BOOT_PRINTF("in ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     getTime( time );    // set time to the current time
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     }
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                             case TC_SUBTYPE_RESET:
                                 result = action_reset( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_COMM:
                                 result = action_load_common_par( &TC );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_NORM:
                                 result = action_load_normal_par( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_BURST:
                                 result = action_load_burst_par( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM1:
                                 result = action_load_sbm1_par( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_LOAD_SBM2:
                                 result = action_load_sbm2_par( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_DUMP:
                                 result = action_dump_par( queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_ENTER:
                                 result = action_enter_mode( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_INFO:
                                 result = action_update_info( &TC, queue_snd_id );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_EN_CAL:
                                 result = action_enable_calibration( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_DIS_CAL:
                                 result = action_disable_calibration( &TC, queue_snd_id, time );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             case TC_SUBTYPE_UPDT_TIME:
                                 result = action_update_time( &TC );
                                 close_action( &TC, result, queue_snd_id );
                                 break;
                                 //
                             default:
                                 break;
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 return LFR_DEFAULT;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 requestedMode = TC->dataAndCRC[1];
                 if ( (requestedMode != LFR_MODE_STANDBY)
                      && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                      && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                 {
                     status = RTEMS_UNSATISFIED;
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_LFR_MODE, requestedMode );
                 }
                 else
                 {
                     printf("in action_enter_mode *** enter mode %d\n", requestedMode);
                     status = transition_validation(requestedMode);
                     if ( status == LFR_SUCCESSFUL ) {
                         if ( lfrCurrentMode != LFR_MODE_STANDBY)
                         {
                             status = stop_current_mode();
                         }
                         if (status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF("ERR *** in action_enter *** stop_current_mode\n")
                         }
                         status = enter_mode( requestedMode );
                     }
                     else
                     {
                         PRINTF("ERR *** in action_enter *** transition rejected\n")
                         send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     }
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR directive status code:
                  * - LFR_DEFAULT
                  * - LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 int result;
                 unsigned int status;
                 unsigned char mode;
-                // check LFR MODE
+                // check LFR mode
                 mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET5 ] & 0x1e) >> 1;
                 status = check_update_info_hk_lfr_mode( mode );
-                if (status != LFR_DEFAULT)  // check TDS mode
+                if (status == LFR_SUCCESSFUL)  // check TDS mode
                 {
                     mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0xf0) >> 4;
                     status = check_update_info_hk_tds_mode( mode );
                 }
-                if (status != LFR_DEFAULT)  // check THR mode
+                if (status == LFR_SUCCESSFUL)  // check THR mode
                 {
                     mode = (TC->dataAndCRC[ BYTE_POS_HK_UPDATE_INFO_PAR_SET6 ] & 0x0f);
                     status = check_update_info_hk_thr_mode( mode );
                 }
-                if (status != LFR_DEFAULT)  // if the parameter check is successful
+                if (status == LFR_SUCCESSFUL)  // if the parameter check is successful
                 {
                     val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
                             + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                     val++;
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                 }
                 result = status;
                 return result;
             }
             int action_enable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_ENABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 result = LFR_DEFAULT;
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 result = LFR_DEFAULT;
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
-                time_management_regs->ctrl = time_management_regs->ctrl | 1;
+            //    time_management_regs->ctrl = time_management_regs->ctrl | 1;    // force tick
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int transition_validation(unsigned char requestedMode)
             {
                 /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
                  *
                  * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
                  *
                  * @return LFR directive status codes:
                  * - LFR_SUCCESSFUL - the transition is authorized
                  * - LFR_DEFAULT - the transition is not authorized
                  *
                  */
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             int stop_current_mode(void)
             {
                 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // (1) mask interruptions
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // (2) clear interruptions
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // (3) reset registers
                 // waveform picker
                 reset_wfp_burst_enable();                       // reset burst and enable bits
                 reset_wfp_status();                             // reset all the status bits
                 // spectral matrices
                 set_irq_on_new_ready_matrix( 0 );               // stop the spectral matrices
                 set_run_matrix_spectral( 0 );                   // run_matrix_spectral is set to 0
                 reset_extractSWF();                             // reset the extractSWF flag to false
                 // <Spectral Matrices simulator>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );                  // mask spectral matrix interrupt simulator
                 timer_stop( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );                 // clear spectral matrix interrupt simulator
                 // </Spectral Matrices simulator>
                 // suspend several tasks
                 if (lfrCurrentMode != LFR_MODE_STANDBY) {
                     status = suspend_science_tasks();
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in stop_current_mode *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 return status;
             }
             int enter_mode(unsigned char mode )
             {
                 /** This function is launched after a mode transition validation.
                  *
                  * @param mode is the mode in which LFR will be put.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - the mode has been entered successfully
                  * - RTEMS_NOT_SATISFIED - the mode has not been entered successfully
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_UNSATISFIED;
                 housekeeping_packet.lfr_status_word[0] = (unsigned char) ((mode << 4) + 0x0d);
                 updateLFRCurrentMode();
                 if ( (mode == LFR_MODE_NORMAL) || (mode == LFR_MODE_BURST)
                      || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2) )
                 {
             #ifdef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
                     maxCount = 0;
             #endif
                     status = restart_science_tasks();
                     launch_waveform_picker( mode );
                     launch_spectral_matrix( mode );
                 }
                 else if ( mode == LFR_MODE_STANDBY )
                 {
             #ifdef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                     rtems_stack_checker_report_usage();
             #endif
                     status = stop_current_mode();
                     PRINTF1("maxCount = %d\n", maxCount)
                 }
                 else
                 {
                     status = RTEMS_UNSATISFIED;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in enter_mode *** ERR = %d\n", status)
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int restart_science_tasks()
             {
                 /** This function is used to restart all science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * Science tasks are AVF0, BPF0, WFRM, CWF3, CW2, CWF1
                  *
                  */
                 rtems_status_code status[6];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], 1 );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 0 ERR %d\n", status[0])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 2 ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 4 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** 5 ERR %d\n", status[5])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[2] != RTEMS_SUCCESSFUL) ||
                      (status[3] != RTEMS_SUCCESSFUL) || (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int suspend_science_tasks()
             {
                 /** This function suspends the science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = rtems_task_suspend( Task_id[TASKID_AVF0] );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
                 }
                 return status;
             }
             void launch_waveform_picker( unsigned char mode )
             {
                 int startDate;
                 reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register( mode );
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 startDate = time_management_regs->coarse_time + 2;
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000]
                 waveform_picker_regs->start_date = startDate;
             }
             void launch_spectral_matrix( unsigned char mode )
             {
                 reset_nb_sm_f0();
                 reset_current_sm_ring_nodes();
                 reset_spectral_matrix_regs();
             #ifdef VHDL_DEV
                 set_irq_on_new_ready_matrix( 1 );
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
                 set_run_matrix_spectral( 1 );
             #else
                 // Spectral Matrices simulator
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
                 LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
             #endif
             }
             void set_irq_on_new_ready_matrix( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe;   // 1110
                 }
             }
             void set_run_matrix_spectral( unsigned char value )
             {
                 if (value == 1)
                 {
-                    spectral_matrix_regs->config = spectral_matrix_regs->config | 0x4;  // 0100 set run_matrix spectral to 1
+                    spectral_matrix_regs->config = spectral_matrix_regs->config | 0x4;  // [0100] set run_matrix spectral to 1
                 }
                 else
                 {
-                    spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb;  // 1011 set run_matrix spectral to 0
+                    spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb;  // [1011] set run_matrix spectral to 0
                 }
             }
             void launch_spectral_matrix_simu( unsigned char mode )
             {
                 reset_nb_sm_f0();
                 reset_current_sm_ring_nodes();
                 reset_spectral_matrix_regs();
                 // Spectral Matrices simulator
                 timer_start( (gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR );
                 LEON_Clear_interrupt( IRQ_SM_SIMULATOR );
                 LEON_Unmask_interrupt( IRQ_SM_SIMULATOR );
                 set_local_nb_interrupt_f0_MAX();
             }
             //****************
             // CLOSING ACTIONS
-            void update_last_TC_exe(ccsdsTelecommandPacket_t *TC)
+            void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a successful TC execution.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC execution
                  *
                  */
+                unsigned int val;
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
-                housekeeping_packet.hk_lfr_last_exe_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
-                housekeeping_packet.hk_lfr_last_exe_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
-                housekeeping_packet.hk_lfr_last_exe_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
-                housekeeping_packet.hk_lfr_last_exe_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
+                housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
-                housekeeping_packet.hk_lfr_last_exe_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
-                housekeeping_packet.hk_lfr_last_exe_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
+                housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
+                val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
+                val++;
+                housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
+                housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
             }
-            void update_last_TC_rej(ccsdsTelecommandPacket_t *TC )
+            void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a TC rejection.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC rejection
                  *
                  */
+                unsigned int val;
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
-                housekeeping_packet.hk_lfr_last_rej_tc_time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
+                housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
-                housekeeping_packet.hk_lfr_last_rej_tc_time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
+                housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
-                housekeeping_packet.hk_lfr_last_rej_tc_time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
+                housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
-                housekeeping_packet.hk_lfr_last_rej_tc_time[3] = (unsigned char) (time_management_regs->coarse_time);
+                housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
-                housekeeping_packet.hk_lfr_last_rej_tc_time[4] = (unsigned char) (time_management_regs->fine_time>>8);
+                housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
-                housekeeping_packet.hk_lfr_last_rej_tc_time[5] = (unsigned char) (time_management_regs->fine_time);
+                housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
+                val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
+                val++;
+                housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
+                housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
             {
                 /** This function is the last step of the TC execution workflow.
                  *
                  * @param TC points to the TC being processed
                  * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
                  * @param queue_id is the id of the RTEMS message queue used to send TM packets
                  * @param time is the time used to date the TC execution
                  *
                  */
-                unsigned int val = 0;
                 if (result == LFR_SUCCESSFUL)
                 {
-                    if ( !( (TC->serviceType==TC_TYPE_TIME) && (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
+                    if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
-                         &&
-                         !( (TC->serviceType==TC_TYPE_GEN) && (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
+                         !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
                          )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
-                    update_last_TC_exe( TC );
-                    val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
-                    val++;
-                    housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
-                    housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
-                else
-                    update_last_TC_rej( TC );
-                    val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
-                    val++;
-                    housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
-                    housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }
             //****************
             // OTHER FUNCTIONS
             void updateLFRCurrentMode()
             {
                 /** This function updates the value of the global variable lfrCurrentMode.
                  *
                  * lfrCurrentMode is a parameter used by several functions to know in which mode LFR is running.
                  *
                  */
                 // update the local value of lfrCurrentMode with the value contained in the housekeeping_packet structure
                 lfrCurrentMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
             }

src/tc_load_dump_parameters.c +3 -3

             /** Functions to load and dump parameters in the LFR registers.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TC related to parameter loading and dumping.\n
              * TC_LFR_LOAD_COMMON_PAR\n
              * TC_LFR_LOAD_NORMAL_PAR\n
              * TC_LFR_LOAD_BURST_PAR\n
              * TC_LFR_LOAD_SBM1_PAR\n
              * TC_LFR_LOAD_SBM2_PAR\n
              *
              */
             #include "tc_load_dump_parameters.h"
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function updates the LFR registers with the incoming common parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  *
                  */
                 parameter_dump_packet.unused0 = TC->dataAndCRC[0];
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = TC->dataAndCRC[1];
                 set_wfp_data_shaping( );
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming normal parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 int flag;
                 rtems_status_code status;
                 flag = LFR_SUCCESSFUL;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) ||
                      (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 //***************
                 // sy_lfr_n_swf_l
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_l( TC, queue_id, time );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_swf_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_p( TC, queue_id, time );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_asm_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_asm_p( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_bp_p0( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //***************
                 // sy_lfr_n_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_bp_p1( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 //*********************
                 // sy_lfr_n_cwf_long_f3
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_cwf_long_f3( TC, queue_id );
                     if (result != LFR_SUCCESSFUL)
                     {
                         flag = LFR_DEFAULT;
                     }
                 }
                 return flag;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming burst parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 rtems_status_code status;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( lfrMode == LFR_MODE_BURST ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm1 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 rtems_status_code status;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_SBM1) || (lfrMode == LFR_MODE_SBM2) ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char lfrMode;
                 rtems_status_code status;
                 result = LFR_DEFAULT;
                 lfrMode = (housekeeping_packet.lfr_status_word[0] & 0xf0) >> 4;
                 if ( (lfrMode == LFR_MODE_SBM1) || (lfrMode == LFR_MODE_SBM2) ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     result = LFR_DEFAULT;
                 }
                 else {
                     parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[0];
                     parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[1];
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int action_dump_par( rtems_id queue_id )
             {
                 /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                  *
                  * @param queue_id is the id of the queue which handles TM related to this execution step.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 int status;
                 // UPDATE TIME
                 increment_seq_counter( parameter_dump_packet.packetSequenceControl );
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                     PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                 }
                 return status;
             }
             //***********************
             // NORMAL MODE PARAMETERS
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
             {
                 /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int tmp;
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 rtems_status_code status;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_L+1 ];
                 tmp = ( unsigned int ) floor(
                             ( ( msb*256 ) + lsb ) / 16
                         ) * 16;
                 if ( (tmp < 16) || (tmp > 2048) )   // the snapshot period is a multiple of 16
                 {                                   // 2048 is the maximum limit due to the size of the buffers
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_L+10, lsb );
                     result = WRONG_APP_DATA;
                 }
                 else if (tmp != 2048)
                 {
                     status = send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                     result = FUNCT_NOT_IMPL;
                 }
                 else
                 {
                     parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (tmp >> 8);
                     parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (tmp     );
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int set_sy_lfr_n_swf_p(ccsdsTelecommandPacket_t *TC, rtems_id queue_id , unsigned char *time)
             {
                 /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int tmp;
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 rtems_status_code status;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_SWF_P+1 ];
                 tmp = msb * 256  + lsb;
                 if ( tmp < 16 )
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_SY_LFR_N_SWF_P+10, lsb );
                     result = WRONG_APP_DATA;
                 }
                 else
                 {
                     parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (tmp >> 8);
                     parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (tmp     );
                     result = LFR_SUCCESSFUL;
                 }
                 return result;
             }
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the time between two full spectral matrices transmission, in s (SY_LFR_N_ASM_P).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 unsigned char msb;
                 unsigned char lsb;
                 msb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P ];
                 lsb = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_ASM_P+1 ];
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = msb;
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = lsb;
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_N_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_BP_P1 ];
                 return status;
             }
             int set_sy_lfr_n_cwf_long_f3(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function allows to switch from CWF_F3 packets to CWF_LONG_F3 packets.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ BYTE_POS_SY_LFR_N_CWF_LONG_F3 ];
                 return status;
             }
             //**********************
             // BURST MODE PARAMETERS
             //*********************
             // SBM1 MODE PARAMETERS
             //*********************
             // SBM2 MODE PARAMETERS
             //*******************
             // TC_LFR_UPDATE_INFO
             unsigned int check_update_info_hk_lfr_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == LFR_MODE_STANDBY) || (mode == LFR_MODE_NORMAL)
-                     || (mode = LFR_MODE_BURST)
+                     || (mode == LFR_MODE_BURST)
                      || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_tds_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == TDS_MODE_STANDBY) || (mode == TDS_MODE_NORMAL)
-                     || (mode = TDS_MODE_BURST)
+                     || (mode == TDS_MODE_BURST)
                      || (mode == TDS_MODE_SBM1) || (mode == TDS_MODE_SBM2)
                      || (mode == TDS_MODE_LFM))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_thr_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == THR_MODE_STANDBY) || (mode == THR_MODE_NORMAL)
-                     || (mode = THR_MODE_BURST))
+                     || (mode == THR_MODE_BURST))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             //**********
             // init dump
             void init_parameter_dump( void )
             {
                 /** This function initialize the parameter_dump_packet global variable with default values.
                  *
                  */
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (TM_PACKET_ID_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetID[1] = (unsigned char) TM_PACKET_ID_PARAMETER_DUMP;
                 parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                 // DATA FIELD HEADER
                 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.unused0 = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.bw_sp0_sp1_r0_r1 = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (SY_LFR_N_SWF_L >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (SY_LFR_N_SWF_P >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (SY_LFR_N_ASM_P >> 8);
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) SY_LFR_N_BP_P1;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = (unsigned char) SY_LFR_N_CWF_LONG_F3;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
             }

src/tm_lfr_tc_exe.c +18 0

             /** Functions to send TM packets related to TC parsing and execution.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to send appropriate TM packets after parsing and execution:
              * - TM_LFR_TC_EXE_SUCCESS
              * - TM_LFR_TC_EXE_INCONSISTENT
              * - TM_LFR_TC_EXE_NOT_EXECUTABLE
              * - TM_LFR_TC_EXE_NOT_IMPLEMENTED
              * - TM_LFR_TC_EXE_ERROR
              * - TM_LFR_TC_EXE_CORRUPTED
              *
              */
             #include "tm_lfr_tc_exe.h"
             int send_tm_lfr_tc_exe_success( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_SUCCESS packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_SUCCESS_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_SUCCESS     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_OK;
                 TM.destinationID = TC->sourceID;
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 messageSize = PACKET_LENGTH_TC_EXE_SUCCESS + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_success *** ERR\n")
                 }
+                // UPDATE HK FIELDS
+                update_last_TC_exe( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_inconsistent( ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                                 unsigned char byte_position, unsigned char rcv_value )
             {
                 /** This function sends a TM_LFR_TC_EXE_INCONSISTENT packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  * @param byte_position is the byte position of the MSB of the parameter that has been seen as inconsistent
                  * @param rcv_value  is the value of the LSB of the parameter that has been deteced as inconsistent
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_INCONSISTENT_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_INCONSISTENT     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (WRONG_APP_DATA >> 8);
                 TM.tc_failure_code[1] = (char) (WRONG_APP_DATA     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.byte_position = byte_position;
                 TM.rcv_value = rcv_value;
                 messageSize = PACKET_LENGTH_TC_EXE_INCONSISTENT + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_inconsistent *** ERR\n")
                 }
+                // UPDATE HK FIELDS
+                update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_not_executable( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function sends a TM_LFR_TC_EXE_NOT_EXECUTABLE packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_NOT_EXECUTABLE_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (TC_NOT_EXE >> 8);
                 TM.tc_failure_code[1] = (char) (TC_NOT_EXE     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.lfr_status_word[0] = housekeeping_packet.lfr_status_word[0];
                 TM.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1];
                 messageSize = PACKET_LENGTH_TC_EXE_NOT_EXECUTABLE + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_not_executable *** ERR\n")
                 }
+                // UPDATE HK FIELDS
+                update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_not_implemented( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
             {
                 /** This function sends a TM_LFR_TC_EXE_NOT_IMPLEMENTED packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_NOT_IMPLEMENTED_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (FUNCT_NOT_IMPL >> 8);
                 TM.tc_failure_code[1] = (char) (FUNCT_NOT_IMPL     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 messageSize = PACKET_LENGTH_TC_EXE_NOT_IMPLEMENTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_not_implemented *** ERR\n")
                 }
+                // UPDATE HK FIELDS
+                update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_error( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time )
             {
                 /** This function sends a TM_LFR_TC_EXE_ERROR packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_ERROR_t TM;
                 unsigned char messageSize;
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_ERROR     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = TC->sourceID;    // default destination id
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (char) (FAIL_DETECTED >> 8);
                 TM.tc_failure_code[1] = (char) (FAIL_DETECTED     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 messageSize = PACKET_LENGTH_TC_EXE_ERROR + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                 }
+                // UPDATE HK FIELDS
+                update_last_TC_rej( TC, TM.time );
                 return status;
             }
             int send_tm_lfr_tc_exe_corrupted(ccsdsTelecommandPacket_t *TC, rtems_id queue_id,
                                              unsigned char *computed_CRC, unsigned char *currentTC_LEN_RCV,
                                              unsigned char destinationID )
             {
                 /** This function sends a TM_LFR_TC_EXE_CORRUPTED packet in the dedicated RTEMS message queue.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM
                  * @param computed_CRC points to a buffer of two bytes containing the CRC computed during the parsing of the TeleCommand
                  * @param currentTC_LEN_RCV points to a buffer of two bytes containing a packet size field computed on the received data
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 rtems_status_code status;
                 Packet_TM_LFR_TC_EXE_CORRUPTED_t TM;
                 unsigned char messageSize;
                 unsigned int packetLength;
                 unsigned char *packetDataField;
                 packetLength = (TC->packetLength[0] * 256) + TC->packetLength[1];   // compute the packet length parameter
                 packetDataField = (unsigned char *) &TC->headerFlag_pusVersion_Ack; // get the beginning of the data field
                 TM.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 TM.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 TM.reserved = DEFAULT_RESERVED;
                 TM.userApplication = CCSDS_USER_APP;
                 // PACKET HEADER
                 TM.packetID[0] = (unsigned char) (TM_PACKET_ID_TC_EXE >> 8);
                 TM.packetID[1] = (unsigned char) (TM_PACKET_ID_TC_EXE     );
                 increment_seq_counter_destination_id( TM.packetSequenceControl, TC->sourceID );
                 TM.packetLength[0] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED >> 8);
                 TM.packetLength[1] = (unsigned char) (PACKET_LENGTH_TC_EXE_CORRUPTED     );
                 // DATA FIELD HEADER
                 TM.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 TM.serviceType = TM_TYPE_TC_EXE;
                 TM.serviceSubType = TM_SUBTYPE_EXE_NOK;
                 TM.destinationID = destinationID;
                 TM.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 TM.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 TM.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 TM.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 TM.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 TM.time[5] = (unsigned char) (time_management_regs->fine_time);
                 //
                 TM.tc_failure_code[0] = (unsigned char) (CORRUPTED >> 8);
                 TM.tc_failure_code[1] = (unsigned char) (CORRUPTED     );
                 TM.telecommand_pkt_id[0] = TC->packetID[0];
                 TM.telecommand_pkt_id[1] = TC->packetID[1];
                 TM.pkt_seq_control[0] = TC->packetSequenceControl[0];
                 TM.pkt_seq_control[1] = TC->packetSequenceControl[1];
                 TM.tc_service = TC->serviceType;      // type of the rejected TC
                 TM.tc_subtype = TC->serviceSubType;   // subtype of the rejected TC
                 TM.pkt_len_rcv_value[0] = TC->packetLength[0];
                 TM.pkt_len_rcv_value[1] = TC->packetLength[1];
                 TM.pkt_datafieldsize_cnt[0] = currentTC_LEN_RCV[0];
                 TM.pkt_datafieldsize_cnt[1] = currentTC_LEN_RCV[1];
                 TM.rcv_crc[0] = packetDataField[ packetLength - 1 ];
                 TM.rcv_crc[1] = packetDataField[ packetLength ];
                 TM.computed_crc[0] = computed_CRC[0];
                 TM.computed_crc[1] = computed_CRC[1];
                 messageSize = PACKET_LENGTH_TC_EXE_CORRUPTED + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &TM, messageSize);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF("in send_tm_lfr_tc_exe_error *** ERR\n")
                 }
+                // UPDATE HK FIELDS
+                update_last_TC_rej( TC, TM.time );
                 return status;
             }
             void increment_seq_counter_destination_id( unsigned char *packet_sequence_control, unsigned char destination_id )
             {
                 /** This function increment the packet sequence control parameter of a TC, depending on its destination ID.
                  *
                  * @param packet_sequence_control points to the packet sequence control which will be incremented
                  * @param destination_id is the destination ID of the TM, there is one counter by destination ID
                  *
                  * If the destination ID is not known, a dedicated counter is incremented.
                  *
                  */
                 unsigned short sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 unsigned char i;
                 switch (destination_id)
                 {
                 case SID_TC_GROUND:
                     i = GROUND;
                     break;
                 case SID_TC_MISSION_TIMELINE:
                     i = MISSION_TIMELINE;
                     break;
                 case SID_TC_TC_SEQUENCES:
                     i = TC_SEQUENCES;
                     break;
                 case SID_TC_RECOVERY_ACTION_CMD:
                     i = RECOVERY_ACTION_CMD;
                     break;
                 case SID_TC_BACKUP_MISSION_TIMELINE:
                     i = BACKUP_MISSION_TIMELINE;
                     break;
                 case SID_TC_DIRECT_CMD:
                     i = DIRECT_CMD;
                     break;
                 case SID_TC_SPARE_GRD_SRC1:
                     i = SPARE_GRD_SRC1;
                     break;
                 case SID_TC_SPARE_GRD_SRC2:
                     i = SPARE_GRD_SRC2;
                     break;
                 case SID_TC_OBCP:
                     i = OBCP;
                     break;
                 case SID_TC_SYSTEM_CONTROL:
                     i = SYSTEM_CONTROL;
                     break;
                 case SID_TC_AOCS:
                     i = AOCS;
                     break;
                 case SID_TC_RPW_INTERNAL:
                     i = RPW_INTERNAL;
                     break;
                 default:
                     i = GROUND;
                     break;
                 }
                 // increment the sequence counter
                 if ( sequenceCounters_TC_EXE[ i ] < SEQ_CNT_MAX )
                 {
                     sequenceCounters_TC_EXE[ i ] = sequenceCounters_TC_EXE[ i ] + 1;
                 }
                 else
                 {
                     sequenceCounters_TC_EXE[ i ] = 0;
                 }
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                 sequence_cnt                = sequenceCounters_TC_EXE[ i ] & 0x3fff;
                 new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
                 packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                 packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
             }

src/wf_handler.c +1 -6

             /** Functions and tasks related to waveform packet generation.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle waveforms, in snapshot or continuous format.\n
              *
              */
             #include "wf_handler.h"
             //*****************
             // waveform headers
             // SWF
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F0[7];
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F1[7];
             Header_TM_LFR_SCIENCE_SWF_t headerSWF_F2[7];
             // CWF
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F1[       NB_PACKETS_PER_GROUP_OF_CWF         ];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_BURST[ NB_PACKETS_PER_GROUP_OF_CWF         ];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F2_SBM2[  NB_PACKETS_PER_GROUP_OF_CWF         ];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3[       NB_PACKETS_PER_GROUP_OF_CWF         ];
             Header_TM_LFR_SCIENCE_CWF_t headerCWF_F3_light[ NB_PACKETS_PER_GROUP_OF_CWF_LIGHT   ];
             //**************
             // waveform ring
             ring_node waveform_ring_f0[NB_RING_NODES_F0];
             ring_node waveform_ring_f1[NB_RING_NODES_F1];
             ring_node waveform_ring_f2[NB_RING_NODES_F2];
             ring_node *current_ring_node_f0;
             ring_node *ring_node_to_send_swf_f0;
             ring_node *current_ring_node_f1;
             ring_node *ring_node_to_send_swf_f1;
             ring_node *ring_node_to_send_cwf_f1;
             ring_node *current_ring_node_f2;
             ring_node *ring_node_to_send_swf_f2;
             ring_node *ring_node_to_send_cwf_f2;
             bool extractSWF = false;
             bool swf_f0_ready = false;
             bool swf_f1_ready = false;
             bool swf_f2_ready = false;
             int wf_snap_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) + TIME_OFFSET ];
             //*********************
             // Interrupt SubRoutine
             void reset_extractSWF( void )
             {
                 extractSWF = false;
                 swf_f0_ready = false;
                 swf_f1_ready = false;
                 swf_f2_ready = false;
             }
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
                 /** This is the interrupt sub routine called by the waveform picker core.
                  *
                  * This ISR launch different actions depending mainly on two pieces of information:
                  * 1. the values read in the registers of the waveform picker.
                  * 2. the current LFR mode.
                  *
                  */
                 rtems_status_code status;
                 static unsigned char nb_swf = 0;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                         // (1) change the receiving buffer for the waveform picker
                         if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3_a) {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_b);
                         }
                         else {
                             waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_a);
                         }
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
                     }
                 }
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
                     if ( (waveform_picker_regs->status & 0xff8) != 0x00)    // [1000] check the error bits
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                     }
                     if ( (waveform_picker_regs->status & 0x07) == 0x07)    // [0111] check the f2, f1, f0 full bits
                     {
                         // change F0 ring node
                         ring_node_to_send_swf_f0 = current_ring_node_f0;
                         current_ring_node_f0 = current_ring_node_f0->next;
                         waveform_picker_regs->addr_data_f0 = current_ring_node_f0->buffer_address;
                         // change F1 ring node
                         ring_node_to_send_swf_f1 = current_ring_node_f1;
                         current_ring_node_f1 = current_ring_node_f1->next;
                         waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address;
                         // change F2 ring node
                         ring_node_to_send_swf_f2 = current_ring_node_f2;
                         current_ring_node_f2 = current_ring_node_f2->next;
                         waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
                         //
             //            if (nb_swf < 2)
                         if (true)
                         {
                             if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL) {
                                 rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                             }
                              waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff888; // [1000 1000 1000]
                             nb_swf = nb_swf + 1;
                         }
                         else
                         {
                              reset_wfp_burst_enable();
                              nb_swf = 0;
                         }
                     }
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
                     if ( (waveform_picker_regs->status & 0x04) == 0x04 ){ // [0100] check the f2 full bit
                         // (1) change the receiving buffer for the waveform picker
                         ring_node_to_send_cwf_f2 = current_ring_node_f2;
                         current_ring_node_f2 = current_ring_node_f2->next;
                         waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
                         // (2) send an event for the waveforms transmission
                         if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                             rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
                         }
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                     }
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
                     if ( (waveform_picker_regs->status & 0x02) == 0x02 ) { // [0010] check the f1 full bit
                         // (0) launch snapshot extraction if needed
                         if (extractSWF == true)
                         {
                             ring_node_to_send_swf_f1 = current_ring_node_f1;
                             // extract the snapshot
                             status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM1 );
                             extractSWF = false;
                             swf_f1_ready = true;
                         }
                         // (1) change the receiving buffer for the waveform picker
                         ring_node_to_send_cwf_f1 = current_ring_node_f1;
                         current_ring_node_f1 = current_ring_node_f1->next;
                         waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address;
                         // (2) send an event for the the CWF1 task for transmission
                         status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bits = 0
                         if (swf_f0_ready == true)
                         {
                             extractSWF = true;
                             swf_f0_ready = false;
                         }
                         if ((swf_f1_ready == true) && (swf_f2_ready == true))
                         {
                             status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 );
                             swf_f1_ready = false;
                             swf_f2_ready = false;
                         }
                     }
                     if ( (waveform_picker_regs->status & 0x01) == 0x01 ) { // [0001] check the f0 full bit
                         swf_f0_ready = true;
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffeee; // [1111 1110 1110 1110] f0 bits = 0
                     }
                     if ( (waveform_picker_regs->status & 0x04) == 0x04 ) { // [0100] check the f2 full bit
                         swf_f2_ready = true;
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
                     }
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
                     if ( (waveform_picker_regs->status & 0x04) == 0x04 ){ // [0100] check the f2 full bit
                         // (0) launch snapshot extraction if needed
                         if (extractSWF == true)
                         {
                             ring_node_to_send_swf_f2 = current_ring_node_f2;
                             // extract the snapshot
                             status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM2 );
                             // send the snapshot when build, SWBD priority < WFRM priority
                             status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 );
                             extractSWF = false;
                         }
                         // (1) change the receiving buffer for the waveform picker
                         ring_node_to_send_cwf_f2 = current_ring_node_f2;
                         current_ring_node_f2 = current_ring_node_f2->next;
                         waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
                         // (2) send an event for the waveforms transmission
                         status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
                         // (3) check whether swf_fo and swf_f& are ready or not
                         if (swf_f0_ready && swf_f1_ready)
                         {
                             extractSWF = true;
                             swf_f0_ready = false;
                             swf_f1_ready = false;
                         }
                     }
                     if ( (waveform_picker_regs->status & 0x01) == 0x01 ) { // [0001] check the f0 full bit
                         swf_f0_ready = true;
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffeee; // [1111 1110 1110 1110] f0 bits = 0
                     }
                     if ( (waveform_picker_regs->status & 0x02) == 0x02 ) { // [0010] check the f1 full bit
                         swf_f1_ready = true;
                         waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1, f0 bits = 0
                     }
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
             }
             //************
             // RTEMS TASKS
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packets are sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F0
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F1
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 init_header_snapshot_wf_table( SID_NORM_SWF_F0, headerSWF_F0 );
                 init_header_snapshot_wf_table( SID_NORM_SWF_F1, headerSWF_F1 );
                 init_header_snapshot_wf_table( SID_NORM_SWF_F2, headerSWF_F2 );
                 init_waveforms();
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in WFRM *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in WFRM ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive(RTEMS_EVENT_MODE_NORMAL | RTEMS_EVENT_MODE_SBM1
                                         | RTEMS_EVENT_MODE_SBM2 | RTEMS_EVENT_MODE_SBM2_WFRM,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_NORMAL\n")
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f0->buffer_address, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f1->buffer_address, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f2->buffer_address, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM1\n")
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f0->buffer_address, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF((volatile int*) wf_snap_extracted                       , SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f2->buffer_address, SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM2\n")
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f0->buffer_address, SID_NORM_SWF_F0, headerSWF_F0, queue_id);
                         send_waveform_SWF((volatile int*) ring_node_to_send_swf_f1->buffer_address, SID_NORM_SWF_F1, headerSWF_F1, queue_id);
                         send_waveform_SWF((volatile int*) wf_snap_extracted                       , SID_NORM_SWF_F2, headerSWF_F2, queue_id);
                     }
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_CWF_F3
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 init_header_continuous_wf_table( SID_NORM_CWF_LONG_F3, headerCWF_F3 );
                 init_header_continuous_cwf3_light_table( headerCWF_F3_light );
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF3 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF3 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                     {
                         PRINTF("send CWF_LONG_F3\n")
                     }
                     else
                     {
                         PRINTF("send CWF_F3 (light)\n")
                     }
                     if (waveform_picker_regs->addr_data_f3 == (int) wf_cont_f3_a) {
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             send_waveform_CWF( wf_cont_f3_b, SID_NORM_CWF_LONG_F3, headerCWF_F3, queue_id );
                         }
                         else
                         {
                             send_waveform_CWF3_light( wf_cont_f3_b, headerCWF_F3_light, queue_id );
                         }
                     }
                     else
                     {
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             send_waveform_CWF( wf_cont_f3_a, SID_NORM_CWF_LONG_F3, headerCWF_F3, queue_id );
                         }
                         else
                         {
                             send_waveform_CWF3_light( wf_cont_f3_a, headerCWF_F3_light, queue_id );
                         }
                     }
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_BURST_CWF_F2
                  * - TM_LFR_SCIENCE_SBM2_CWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 init_header_continuous_wf_table( SID_BURST_CWF_F2, headerCWF_F2_BURST );
                 init_header_continuous_wf_table( SID_SBM2_CWF_F2, headerCWF_F2_SBM2 );
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF2 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         send_waveform_CWF( (volatile int *) ring_node_to_send_cwf_f2->buffer_address, SID_BURST_CWF_F2, headerCWF_F2_BURST, queue_id );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         send_waveform_CWF( (volatile int *) ring_node_to_send_cwf_f2->buffer_address, SID_SBM2_CWF_F2, headerCWF_F2_SBM2, queue_id );
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_SBM1_CWF_F1
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 init_header_continuous_wf_table( SID_SBM1_CWF_F1, headerCWF_F1 );
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF1 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     send_waveform_CWF( (volatile int*) ring_node_to_send_cwf_f1->buffer_address, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                 }
             }
             rtems_task swbd_task(rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the building of snapshots from different continuous waveforms buffers.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 BOOT_PRINTF("in SWBD ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1 | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         build_snapshot_from_ring( ring_node_to_send_swf_f1, 1 );
                     }
                     else if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         build_snapshot_from_ring( ring_node_to_send_swf_f2, 2 );
                     }
                     else
                     {
                         PRINTF1("in SWBD *** unexpected rtems event received %x\n", (int) event_out)
                     }
                 }
             }
             //******************
             // general functions
             void init_waveforms( void )
             {
                 int i = 0;
                 for (i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     //***
                     // F0
             //        wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET ] = 0x88887777;     //
             //        wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;    //
             //        wf_snap_f0[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0x44443333;    //
                     //***
                     // F1
             //        wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x22221111;
             //        wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x44443333;
             //        wf_snap_f1[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F2
             //        wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 0 + TIME_OFFSET  ] = 0x44443333;
             //        wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 1 + TIME_OFFSET  ] = 0x22221111;
             //        wf_snap_f2[ (i* NB_WORDS_SWF_BLK) + 2 + TIME_OFFSET  ] = 0xaaaa0000;
                     //***
                     // F3
             //        wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 0 ] = val1;
             //        wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 1 ] = val2;
             //        wf_cont_f3[ (i* NB_WORDS_SWF_BLK) + 2 ] = 0xaaaa0000;
                 }
             }
             void init_waveform_rings( void )
             {
                 unsigned char i;
                 // F0 RING
                 waveform_ring_f0[0].next            = (ring_node*) &waveform_ring_f0[1];
                 waveform_ring_f0[0].previous        = (ring_node*) &waveform_ring_f0[NB_RING_NODES_F0-1];
                 waveform_ring_f0[0].buffer_address  = (int) &wf_snap_f0[0][0];
                 waveform_ring_f0[NB_RING_NODES_F0-1].next           = (ring_node*) &waveform_ring_f0[0];
                 waveform_ring_f0[NB_RING_NODES_F0-1].previous       = (ring_node*) &waveform_ring_f0[NB_RING_NODES_F0-2];
                 waveform_ring_f0[NB_RING_NODES_F0-1].buffer_address = (int) &wf_snap_f0[NB_RING_NODES_F0-1][0];
                 for(i=1; i<NB_RING_NODES_F0-1; i++)
                 {
                     waveform_ring_f0[i].next            = (ring_node*) &waveform_ring_f0[i+1];
                     waveform_ring_f0[i].previous        = (ring_node*) &waveform_ring_f0[i-1];
                     waveform_ring_f0[i].buffer_address  = (int) &wf_snap_f0[i][0];
                 }
                 // F1 RING
                 waveform_ring_f1[0].next            = (ring_node*) &waveform_ring_f1[1];
                 waveform_ring_f1[0].previous        = (ring_node*) &waveform_ring_f1[NB_RING_NODES_F1-1];
                 waveform_ring_f1[0].buffer_address  = (int) &wf_snap_f1[0][0];
                 waveform_ring_f1[NB_RING_NODES_F1-1].next           = (ring_node*) &waveform_ring_f1[0];
                 waveform_ring_f1[NB_RING_NODES_F1-1].previous       = (ring_node*) &waveform_ring_f1[NB_RING_NODES_F1-2];
                 waveform_ring_f1[NB_RING_NODES_F1-1].buffer_address = (int) &wf_snap_f1[NB_RING_NODES_F1-1][0];
                 for(i=1; i<NB_RING_NODES_F1-1; i++)
                 {
                     waveform_ring_f1[i].next            = (ring_node*) &waveform_ring_f1[i+1];
                     waveform_ring_f1[i].previous        = (ring_node*) &waveform_ring_f1[i-1];
                     waveform_ring_f1[i].buffer_address  = (int) &wf_snap_f1[i][0];
                 }
                 // F2 RING
                 waveform_ring_f2[0].next            = (ring_node*) &waveform_ring_f2[1];
                 waveform_ring_f2[0].previous        = (ring_node*) &waveform_ring_f2[NB_RING_NODES_F2-1];
                 waveform_ring_f2[0].buffer_address  = (int) &wf_snap_f2[0][0];
                 waveform_ring_f2[NB_RING_NODES_F2-1].next           = (ring_node*) &waveform_ring_f2[0];
                 waveform_ring_f2[NB_RING_NODES_F2-1].previous       = (ring_node*) &waveform_ring_f2[NB_RING_NODES_F2-2];
                 waveform_ring_f2[NB_RING_NODES_F2-1].buffer_address = (int) &wf_snap_f2[NB_RING_NODES_F2-1][0];
                 for(i=1; i<NB_RING_NODES_F2-1; i++)
                 {
                     waveform_ring_f2[i].next            = (ring_node*) &waveform_ring_f2[i+1];
                     waveform_ring_f2[i].previous        = (ring_node*) &waveform_ring_f2[i-1];
                     waveform_ring_f2[i].buffer_address  = (int) &wf_snap_f2[i][0];
                 }
                 DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                 DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                 DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
             }
             void reset_current_ring_nodes( void )
             {
                 current_ring_node_f0        = waveform_ring_f0;
                 ring_node_to_send_swf_f0    = waveform_ring_f0;
                 current_ring_node_f1        = waveform_ring_f1;
                 ring_node_to_send_cwf_f1    = waveform_ring_f1;
                 ring_node_to_send_swf_f1    = waveform_ring_f1;
                 current_ring_node_f2        = waveform_ring_f2;
                 ring_node_to_send_cwf_f2    = waveform_ring_f2;
                 ring_node_to_send_swf_f2    = waveform_ring_f2;
             }
             int init_header_snapshot_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF)
             {
                 unsigned char i;
                 for (i=0; i<7; i++)
                 {
                     headerSWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerSWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerSWF[ i ].reserved = DEFAULT_RESERVED;
                     headerSWF[ i ].userApplication = CCSDS_USER_APP;
                     headerSWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                     headerSWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     headerSWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                     if (i == 6)
                     {
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_224 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_224     );
                     }
                     else
                     {
                         headerSWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8);
                         headerSWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304     );
                         headerSWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_304 >> 8);
                         headerSWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_304     );
                     }
                     headerSWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     headerSWF[ i ].pktCnt = DEFAULT_PKTCNT;  // PKT_CNT
                     headerSWF[ i ].pktNr = i+1;    // PKT_NR
                     // DATA FIELD HEADER
                     headerSWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerSWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerSWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerSWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].time[0] = 0x00;
                     headerSWF[ i ].sid = sid;
                     headerSWF[ i ].hkBIA = DEFAULT_HKBIA;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_wf_table( unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2 >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     }
                     headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                     headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                     headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                     headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
                     headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_CWF     );
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = sid;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int init_header_continuous_cwf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF )
             {
                 unsigned int i;
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++)
                 {
                     headerCWF[ i ].targetLogicalAddress = CCSDS_DESTINATION_ID;
                     headerCWF[ i ].protocolIdentifier = CCSDS_PROTOCOLE_ID;
                     headerCWF[ i ].reserved = DEFAULT_RESERVED;
                     headerCWF[ i ].userApplication = CCSDS_USER_APP;
                     headerCWF[ i ].packetID[0] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST >> 8);
                     headerCWF[ i ].packetID[1] = (unsigned char) (TM_PACKET_ID_SCIENCE_NORMAL_BURST);
                     headerCWF[ i ].packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                     headerCWF[ i ].packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
                     headerCWF[ i ].packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
                     headerCWF[ i ].blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
                     headerCWF[ i ].blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
                     headerCWF[ i ].packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                     // DATA FIELD HEADER
                     headerCWF[ i ].spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                     headerCWF[ i ].serviceType = TM_TYPE_LFR_SCIENCE; // service type
                     headerCWF[ i ].serviceSubType = TM_SUBTYPE_LFR_SCIENCE; // service subtype
                     headerCWF[ i ].destinationID = TM_DESTINATION_ID_GROUND;
                     // AUXILIARY DATA HEADER
                     headerCWF[ i ].sid = SID_NORM_CWF_F3;
                     headerCWF[ i ].hkBIA = DEFAULT_HKBIA;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                     headerCWF[ i ].time[0] = 0x00;
                 }
                 return LFR_SUCCESSFUL;
             }
             int send_waveform_SWF( volatile int *waveform, unsigned int sid,
                                    Header_TM_LFR_SCIENCE_SWF_t *headerSWF, rtems_id queue_id )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 spw_ioctl_send_SWF.hlen = TM_HEADER_LEN + 4 + 12; // + 4 is for the protocole extra header, + 12 is for the auxiliary header
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 coarseTime = waveform[0];
                 fineTime   = waveform[1];
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &waveform[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) + TIME_OFFSET];
                     spw_ioctl_send_SWF.hdr = (char*) &headerSWF[ i ];
                     // BUILD THE DATA
                     if (i==6) {
                         spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
                     }
                     else {
                         spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
                     }
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( headerSWF[ i ].packetSequenceControl, sid );
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, headerSWF[ i ].acquisitionTime );
                     //
                     headerSWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     headerSWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     headerSWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     headerSWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                     headerSWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     headerSWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
                     // SEND PACKET
                     status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_SWF, ACTION_MSG_SPW_IOCTL_SEND_SIZE);
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", sid, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                     rtems_task_wake_after(TIME_BETWEEN_TWO_SWF_PACKETS);  // 300 ms between each packet => 7 * 3 = 21 packets => 6.3 seconds
                 }
                 return ret;
             }
             int send_waveform_CWF(volatile int *waveform, unsigned int sid,
                                   Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id)
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 coarseTime = waveform[0];
                 fineTime   = waveform[1];
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &waveform[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) + TIME_OFFSET];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( headerCWF[ i ].packetSequenceControl, sid );
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, headerCWF[ i ].acquisitionTime);
                     //
                     headerCWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                     headerCWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
                     // SEND PACKET
                     if (sid == SID_NORM_CWF_LONG_F3)
                     {
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
                         rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                     }
                     else
                     {
                         status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                         if (status != RTEMS_SUCCESSFUL) {
                             printf("%d-%d, ERR %d\n", sid, i, (int) status);
                             ret = LFR_DEFAULT;
                         }
                     }
                 }
                 return ret;
             }
             int send_waveform_CWF3_light(volatile int *waveform, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id)
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *sample;
                 spw_ioctl_send_CWF.hlen = TM_HEADER_LEN + 4 + 10; // + 4 is for the protocole extra header, + 10 is for the auxiliary header
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     sample = (char*) &waveform[ (i * NB_WORDS_SWF_BLK) + TIME_OFFSET ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     + TIME_OFFSET_IN_BYTES ] = sample[ 0 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 + TIME_OFFSET_IN_BYTES ] = sample[ 1 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 + TIME_OFFSET_IN_BYTES ] = sample[ 2 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 + TIME_OFFSET_IN_BYTES ] = sample[ 3 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 + TIME_OFFSET_IN_BYTES ] = sample[ 4 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 + TIME_OFFSET_IN_BYTES ] = sample[ 5 ];
                 }
                 coarseTime = waveform[0];
                 fineTime   = waveform[1];
                 //*********************
                 // SEND CWF3_light DATA
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &wf_cont_f3_light[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) + TIME_OFFSET_IN_BYTES];
                     spw_ioctl_send_CWF.hdr = (char*) &headerCWF[ i ];
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( headerCWF[ i ].packetSequenceControl, SID_NORM_CWF_F3 );
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, headerCWF[ i ].acquisitionTime );
                     //
                     headerCWF[ i ].time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                     headerCWF[ i ].time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                     headerCWF[ i ].time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                     headerCWF[ i ].time[3] = (unsigned char) (time_management_regs->coarse_time);
                     headerCWF[ i ].time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                     headerCWF[ i ].time[5] = (unsigned char) (time_management_regs->fine_time);
                     // SEND PACKET
                     status =  rtems_message_queue_send( queue_id, &spw_ioctl_send_CWF, sizeof(spw_ioctl_send_CWF));
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", SID_NORM_CWF_F3, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                     rtems_task_wake_after(TIME_BETWEEN_TWO_CWF3_PACKETS);
                 }
                 return ret;
             }
             void compute_acquisition_time( unsigned int coarseTime, unsigned int fineTime,
                                            unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char * acquisitionTime )
             {
                 unsigned long long int acquisitionTimeAsLong;
                 unsigned char localAcquisitionTime[6];
                 double deltaT;
                 deltaT = 0.;
                 localAcquisitionTime[0] = (unsigned char) ( coarseTime >>  8 );
                 localAcquisitionTime[1] = (unsigned char) ( coarseTime       );
                 localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 24 );
                 localAcquisitionTime[3] = (unsigned char) ( coarseTime >> 16 );
                 localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 24 );
                 localAcquisitionTime[5] = (unsigned char) ( fineTime   >> 16 );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                         + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                         + ( localAcquisitionTime[2] << 24 )
                         + ( localAcquisitionTime[3] << 16 )
                         + ( localAcquisitionTime[4] << 8  )
                         + ( localAcquisitionTime[5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d", sid)
                     deltaT = 0.;
                     break;
                 }
                 acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                 //
                 acquisitionTime[0] = (unsigned char) (acquisitionTimeAsLong >> 40);
                 acquisitionTime[1] = (unsigned char) (acquisitionTimeAsLong >> 32);
                 acquisitionTime[2] = (unsigned char) (acquisitionTimeAsLong >> 24);
                 acquisitionTime[3] = (unsigned char) (acquisitionTimeAsLong >> 16);
                 acquisitionTime[4] = (unsigned char) (acquisitionTimeAsLong >> 8 );
                 acquisitionTime[5] = (unsigned char) (acquisitionTimeAsLong      );
             }
             void build_snapshot_from_ring( ring_node *ring_node_to_send, unsigned char frequencyChannel )
             {
                 unsigned int i;
                 unsigned long long int centerTime_asLong;
                 unsigned long long int acquisitionTimeF0_asLong;
                 unsigned long long int acquisitionTime_asLong;
                 unsigned long long int bufferAcquisitionTime_asLong;
                 unsigned char *ptr1;
                 unsigned char *ptr2;
                 unsigned char nb_ring_nodes;
                 unsigned long long int frequency_asLong;
                 unsigned long long int nbTicksPerSample_asLong;
                 unsigned long long int nbSamplesPart1_asLong;
                 unsigned long long int sampleOffset_asLong;
                 unsigned int deltaT_F0;
                 unsigned int deltaT_F1;
                 unsigned long long int deltaT_F2;
                 deltaT_F0 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                 deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                 sampleOffset_asLong = 0x00;
                 // get the f0 acquisition time
                 build_acquisition_time( &acquisitionTimeF0_asLong, current_ring_node_f0 );
-                PRINTF1("acquisitionTimeF0_asLong %llx \n", acquisitionTimeF0_asLong)
                 // compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
-                PRINTF1("centerTime_asLong %llx \n", centerTime_asLong)
                 // compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case 1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = 4096;
                     nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                     break;
                 case 2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;
                     break;
                 }
-                PRINTF1("acquisitionTime_asLong %llx\n", acquisitionTime_asLong)
                 //****************************************************************************
                 // 1) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 for (i=0; i<nb_ring_nodes; i++)
                 {
                     PRINTF1("%d ... ", i)
                     build_acquisition_time( &bufferAcquisitionTime_asLong, ring_node_to_send );
                     if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                     {
                         PRINTF1("buffer found with acquisition time = %llx\n", bufferAcquisitionTime_asLong)
                         break;
                     }
                     ring_node_to_send = ring_node_to_send->previous;
                 }
                 //*************************************************
                 // (2) once the buffer is found, build the snapshot
                 // compute the number of samples to take in the current buffer
                 sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> 16;
                 nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
-                PRINTF2("sampleOffset_asLong = %lld, nbSamplesPart1 = %lld\n", sampleOffset_asLong, nbSamplesPart1_asLong)
                 // compute the final acquisition time
                 acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                         sampleOffset_asLong * nbTicksPerSample_asLong;
-                PRINTF1("FINAL acquisitionTime_asLong %llx\n\n", acquisitionTime_asLong)
                 // copy the acquisition time at the beginning of the extrated snapshot
                 ptr1 = (unsigned char*) &acquisitionTime_asLong;
                 ptr2 = (unsigned char*) wf_snap_extracted;
                 ptr2[0] = ptr1[ 2 + 2 ];
                 ptr2[1] = ptr1[ 3 + 2 ];
                 ptr2[2] = ptr1[ 0 + 2 ];
                 ptr2[3] = ptr1[ 1 + 2 ];
                 ptr2[4] = ptr1[ 4 + 2 ];
                 ptr2[5] = ptr1[ 5 + 2 ];
                 // re set the synchronization bit
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i + TIME_OFFSET] =
                             ((int*) ring_node_to_send->buffer_address)[i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) + TIME_OFFSET];
                 }
                 // copy the part 2 of the snapshot in the extracted buffer
                 ring_node_to_send = ring_node_to_send->next;
                 for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i + TIME_OFFSET] =
                             ((int*) ring_node_to_send->buffer_address)[(i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) + TIME_OFFSET];
                 }
             }
             void build_acquisition_time( unsigned long long int *acquisitionTimeAslong, ring_node *current_ring_node )
             {
                 unsigned char *acquisitionTimeCharPtr;
                 acquisitionTimeCharPtr = (unsigned char*) current_ring_node->buffer_address;
                 *acquisitionTimeAslong = 0x00;
                 *acquisitionTimeAslong = ( acquisitionTimeCharPtr[0] << 24 )
                         + ( acquisitionTimeCharPtr[1] << 16 )
                         + ( (unsigned long long int) (acquisitionTimeCharPtr[2] & 0x7f) << 40 ) // [0111 1111] mask the synchronization bit
                         + ( (unsigned long long int) acquisitionTimeCharPtr[3] << 32 )
                         + ( acquisitionTimeCharPtr[4] << 8  )
                         + ( acquisitionTimeCharPtr[5]       );
             }
             //**************
             // wfp registers
             void reset_wfp_burst_enable(void)
             {
                 /** This function resets the waveform picker burst_enable register.
                  *
                  * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                  *
                  */
                 waveform_picker_regs->run_burst_enable = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             }
             void reset_wfp_status( void )
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
                 waveform_picker_regs->status = 0x00;              // burst f2, f1, f0     enable f3, f2, f1, f0
             }
             void reset_waveform_picker_regs(void)
             {
                 /** This function resets the waveform picker module registers.
                 *
                 * The registers affected by this function are located at the following offset addresses:
                 * - 0x00 data_shaping
                 * - 0x04 run_burst_enable
                 * - 0x08 addr_data_f0
                 * - 0x0C addr_data_f1
                 * - 0x10 addr_data_f2
                 * - 0x14 addr_data_f3
                 * - 0x18 status
                 * - 0x1C delta_snapshot
                 * - 0x20 delta_f0
                 * - 0x24 delta_f0_2
                 * - 0x28 delta_f1
                 * - 0x2c delta_f2
                 * - 0x30 nb_data_by_buffer
                 * - 0x34 nb_snapshot_param
                 * - 0x38 start_date
                 * - 0x3c nb_word_in_buffer
                 *
                 */
-                waveform_picker_regs->data_shaping = 0x01; // 0x00 *** R1 R0 SP1 SP0 BW
+            //    waveform_picker_regs->data_shaping = 0x01; // 0x00 *** R1 R0 SP1 SP0 BW
                 waveform_picker_regs->run_burst_enable = 0x00; // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 waveform_picker_regs->addr_data_f0 = current_ring_node_f0->buffer_address; // 0x08
                 waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address; // 0x0c
                 waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address; // 0x10
                 waveform_picker_regs->addr_data_f3 = (int) (wf_cont_f3_a); // 0x14
                 waveform_picker_regs->status = 0x00; // 0x18
                 //
                 set_wfp_delta_snapshot();   // 0x1c
                 set_wfp_delta_f0_f0_2();    // 0x20, 0x24
                 set_wfp_delta_f1();         // 0x28
                 set_wfp_delta_f2();         // 0x2c
                 DEBUG_PRINTF1("delta_snapshot %x\n", waveform_picker_regs->delta_snapshot)
                 DEBUG_PRINTF1("delta_f0 %x\n", waveform_picker_regs->delta_f0)
                 DEBUG_PRINTF1("delta_f0_2 %x\n", waveform_picker_regs->delta_f0_2)
                 DEBUG_PRINTF1("delta_f1 %x\n", waveform_picker_regs->delta_f1)
                 DEBUG_PRINTF1("delta_f2 %x\n", waveform_picker_regs->delta_f2)
                 // 2688 = 8 * 336
                 waveform_picker_regs->nb_data_by_buffer = 0xa7f;    // 0x30 *** 2688 - 1 => nb samples -1
                 waveform_picker_regs->snapshot_param = 0xa80;       // 0x34 *** 2688 => nb samples
                 waveform_picker_regs->start_date = 0x00;            // 0x38
                 waveform_picker_regs->nb_word_in_buffer = 0x1f82;   // 0x3c *** 2688 * 3 + 2 = 8066
             }
             void set_wfp_data_shaping( void )
             {
                 /** This function sets the data_shaping register of the waveform picker module.
                  *
                  * The value is read from one field of the parameter_dump_packet structure:\n
                  * bw_sp0_sp1_r0_r1
                  *
                  */
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.bw_sp0_sp1_r0_r1;
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x10) >> 4 )     // BW
                         + ( (data_shaping & 0x08) >> 2 )     // SP0
                         + ( (data_shaping & 0x04)      )     // SP1
                         + ( (data_shaping & 0x02) << 2 )     // R0
                         + ( (data_shaping & 0x01) << 4 );    // R1
             }
             void set_wfp_burst_enable_register( unsigned char mode )
             {
                 /** This function sets the waveform picker burst_enable register depending on the mode.
                  *
                  * @param mode is the LFR mode to launch.
                  *
                  * The burst bits shall be before the enable bits.
                  *
                  */
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case(LFR_MODE_NORMAL):
                     waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enable
                     waveform_picker_regs->run_burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x04; // [0100] enable f2
                     break;
                 case(LFR_MODE_SBM1):
                     waveform_picker_regs->run_burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             }
             void set_wfp_delta_snapshot( void )
             {
                 /** This function sets the delta_snapshot register of the waveform picker module.
                  *
                  * The value is read from two (unsigned char) of the parameter_dump_packet structure:
                  * - sy_lfr_n_swf_p[0]
                  * - sy_lfr_n_swf_p[1]
                  *
                  */
                 unsigned int delta_snapshot;
                 unsigned int delta_snapshot_in_T2;
                 delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
                 delta_snapshot_in_T2 = delta_snapshot * 256;
                 waveform_picker_regs->delta_snapshot = delta_snapshot_in_T2;    // max 4 bytes
             }
             void set_wfp_delta_f0_f0_2( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f0_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f0_in_float =nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 24576.) * 256.;
                 waveform_picker_regs->delta_f0      =  delta_snapshot - floor( delta_f0_in_float );
                 waveform_picker_regs->delta_f0_2    = 0x7;         // max 7 bits
             }
             void set_wfp_delta_f1( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f1_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f1_in_float = nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 4096.) * 256.;
                 waveform_picker_regs->delta_f1 = delta_snapshot - floor( delta_f1_in_float );
             }
             void set_wfp_delta_f2()
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 waveform_picker_regs->delta_f2 = delta_snapshot - nb_samples_per_snapshot / 2;
             }
             //*****************
             // local parameters
             void set_local_nb_interrupt_f0_MAX( void )
             {
                 /** This function sets the value of the nb_interrupt_f0_MAX local parameter.
                  *
                  * This parameter is used for the SM validation only.\n
                  * The software waits param_local.local_nb_interrupt_f0_MAX interruptions from the spectral matrices
                  * module before launching a basic processing.
                  *
                  */
                 param_local.local_nb_interrupt_f0_MAX = ( (parameter_dump_packet.sy_lfr_n_asm_p[0]) * 256
                         + parameter_dump_packet.sy_lfr_n_asm_p[1] ) * 100;
             }
             void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid )
             {
                 unsigned short *sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 if ( (sid ==SID_NORM_SWF_F0)    || (sid ==SID_NORM_SWF_F1) || (sid ==SID_NORM_SWF_F2)
                      || (sid ==SID_NORM_CWF_F3) || (sid==SID_NORM_CWF_LONG_F3) || (sid ==SID_BURST_CWF_F2) )
                 {
                     sequence_cnt = &sequenceCounters_SCIENCE_NORMAL_BURST;
                 }
                 else if ( (sid ==SID_SBM1_CWF_F1) || (sid ==SID_SBM2_CWF_F2) )
                 {
                     sequence_cnt = &sequenceCounters_SCIENCE_SBM1_SBM2;
                 }
                 else
                 {
                     sequence_cnt = NULL;
                     PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
                 }
                 if (sequence_cnt != NULL)
                 {
                     segmentation_grouping_flag  = (packet_sequence_control[ 0 ] & 0xc0) << 8;
                     *sequence_cnt                = (*sequence_cnt) & 0x3fff;
                     new_packet_sequence_control = segmentation_grouping_flag | *sequence_cnt ;
                     packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                     packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                     // increment the sequence counter for the next packet
                     if ( *sequence_cnt < SEQ_CNT_MAX)
                     {
                         *sequence_cnt = *sequence_cnt + 1;
                     }
                     else
                     {
                         *sequence_cnt = 0;
                     }
                 }
             }

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