HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r165:c9daaae78ba2

Creation of a spool task (SPOO) to handle

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r165:c9daaae78ba2 spool

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r165:c9daaae78ba2

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header/fsw_spool.h created 644 +64 0

@@ -0,0 +1,64
	1	#ifndef FSW_SPOOL_H_INCLUDED
	2	#define FSW_SPOOL_H_INCLUDED
	3
	4	#include <rtems.h>
	5	#include <stdio.h>
	6
	7	#include "fsw_params.h"
	8	#include "fsw_processing.h"
	9
	10	rtems_name name_spool_rate_monotonic; // name of the SPOOL rate monotonic
	11	rtems_id spool_period_id; // id of the SPOOL rate monotonic period
	12
	13	extern unsigned char lfrCurrentMode;
	14
	15	extern waveform_picker_regs_new_t *waveform_picker_regs;
	16	extern spectral_matrix_regs_t *spectral_matrix_regs;
	17
	18	// WAVEFORMS
	19	extern ring_node *current_ring_node_f0;
	20	extern ring_node *ring_node_to_send_swf_f0;
	21	extern ring_node *current_ring_node_f1;
	22	extern ring_node *ring_node_to_send_swf_f1;
	23	extern ring_node *ring_node_to_send_cwf_f1;
	24	extern ring_node *current_ring_node_f2;
	25	extern ring_node *ring_node_to_send_swf_f2;
	26	extern ring_node *ring_node_to_send_cwf_f2;
	27	extern ring_node *current_ring_node_f3;
	28	extern ring_node *ring_node_to_send_cwf_f3;
	29
	30	// SPECTRAL MATRICES
	31	unsigned int spool_nb_sm_f0;
	32	unsigned int spool_nb_sm_f1;
	33	extern ring_node_sm *current_ring_node_sm_f0;
	34	extern ring_node_sm *current_ring_node_sm_f1;
	35	extern ring_node_sm *current_ring_node_sm_f2;
	36	extern ring_node_sm *ring_node_for_averaging_sm_f0;
	37	extern ring_node_sm *ring_node_for_averaging_sm_f1;
	38	extern ring_node_sm *ring_node_for_averaging_sm_f2;
	39
	40	extern rtems_id Task_id[]; /* array of task ids */
	41
	42	extern bool swf_f0_ready;
	43	extern bool swf_f1_ready;
	44	extern bool swf_f2_ready;
	45
	46	extern bool wake_up_task_wfrm;
	47	extern bool wake_up_task_cwf_f1;
	48	extern bool wake_up_task_cwf_f2_burst;
	49	extern bool wake_up_task_cwf_f2_sbm2;
	50	extern bool wake_up_task_cwf_f3;
	51
	52	//***********
	53	// RTEMS_TASK
	54	rtems_task spoo_task( rtems_task_argument argument );
	55
	56	// OTHER FUNCTIONS
	57	void spool_waveforms( void );
	58	void spool_spectral_matrices_f0( void );
	59	void spool_spectral_matrices_f1( void );
	60	void spool_spectral_matrices_f2( void );
	61	void spool_spectral_matrices( void );
	62	void spool_reset_nb_sm( void );
	63
	64	#endif // FSW_SPOOL_H_INCLUDED

src/fsw_spool.c created 644 +276 0

@@ -0,0 +1,276
	1	/** Functions and tasks related to waveform packet generation.
	2	*
	3	* @file
	4	* @author P. LEROY
	5	*
	6	* A group of functions to handle waveforms, in snapshot or continuous format.\n
	7	*
	8	*/
	9
	10	#include "fsw_spool.h"
	11
	12	//*********************
	13	// Interrupt SubRoutine
	14
	15	void spool_waveforms( void )
	16	{
	17	/** This is the interrupt sub routine called by the waveform picker core.
	18	*
	19	* This ISR launch different actions depending mainly on two pieces of information:
	20	* 1. the values read in the registers of the waveform picker.
	21	* 2. the current LFR mode.
	22	*
	23	*/
	24
	25	rtems_status_code status;
	26
	27	if ( (lfrCurrentMode == LFR_MODE_NORMAL) \|\| (lfrCurrentMode == LFR_MODE_BURST) // in BURST the data are used to place v, e1 and e2 in the HK packet
	28	\|\| (lfrCurrentMode == LFR_MODE_SBM1) \|\| (lfrCurrentMode == LFR_MODE_SBM2) )
	29	{ // in modes other than STANDBY and BURST, send the CWF_F3 data
	30	if ((waveform_picker_regs->status & 0x08) == 0x08){ // [1000] f3 is full
	31	// (1) change the receiving buffer for the waveform picker
	32	ring_node_to_send_cwf_f3 = current_ring_node_f3;
	33	current_ring_node_f3 = current_ring_node_f3->next;
	34	waveform_picker_regs->addr_data_f3 = current_ring_node_f3->buffer_address;
	35	// (2) send an event for the waveforms transmission
	36	if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
	37	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	38	}
	39	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2);
	40	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff777; // reset f3 bits to 0, [1111 0111 0111 0111]
	41	}
	42	}
	43
	44	switch(lfrCurrentMode)
	45	{
	46	//********
	47	// STANDBY
	48	case(LFR_MODE_STANDBY):
	49	break;
	50
	51	//******
	52	// NORMAL
	53	case(LFR_MODE_NORMAL):
	54	if ( (waveform_picker_regs->status & 0xff8) != 0x00) // [1000] check the error bits
	55	{
	56	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	57	}
	58	if ( (waveform_picker_regs->status & 0x07) == 0x07) // [0111] check the f2, f1, f0 full bits
	59	{
	60	// change F0 ring node
	61	ring_node_to_send_swf_f0 = current_ring_node_f0;
	62	current_ring_node_f0 = current_ring_node_f0->next;
	63	waveform_picker_regs->addr_data_f0 = current_ring_node_f0->buffer_address;
	64	// change F1 ring node
	65	ring_node_to_send_swf_f1 = current_ring_node_f1;
	66	current_ring_node_f1 = current_ring_node_f1->next;
	67	waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address;
	68	// change F2 ring node
	69	ring_node_to_send_swf_f2 = current_ring_node_f2;
	70	current_ring_node_f2 = current_ring_node_f2->next;
	71	waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
	72	//
	73	if (rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL ) != RTEMS_SUCCESSFUL)
	74	{
	75	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	76	}
	77	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff888; // [1000 1000 1000]
	78	}
	79	break;
	80
	81	//******
	82	// BURST
	83	case(LFR_MODE_BURST):
	84	if ( (waveform_picker_regs->status & 0x04) == 0x04 ){ // [0100] check the f2 full bit
	85	// (1) change the receiving buffer for the waveform picker
	86	ring_node_to_send_cwf_f2 = current_ring_node_f2;
	87	current_ring_node_f2 = current_ring_node_f2->next;
	88	waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
	89	// (2) send an event for the waveforms transmission
	90	if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
	91	rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_2 );
	92	}
	93	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
	94	}
	95	break;
	96
	97	//*****
	98	// SBM1
	99	case(LFR_MODE_SBM1):
	100	if ( (waveform_picker_regs->status & 0x02) == 0x02 ) { // [0010] check the f1 full bit
	101	// (1) change the receiving buffer for the waveform picker
	102	ring_node_to_send_cwf_f1 = current_ring_node_f1;
	103	current_ring_node_f1 = current_ring_node_f1->next;
	104	waveform_picker_regs->addr_data_f1 = current_ring_node_f1->buffer_address;
	105	// (2) send an event for the the CWF1 task for transmission (and snapshot extraction if needed)
	106	status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
	107	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bits = 0
	108	}
	109	if ( (waveform_picker_regs->status & 0x01) == 0x01 ) { // [0001] check the f0 full bit
	110	swf_f0_ready = true;
	111	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffeee; // [1111 1110 1110 1110] f0 bits = 0
	112	}
	113	if ( (waveform_picker_regs->status & 0x04) == 0x04 ) { // [0100] check the f2 full bit
	114	swf_f2_ready = true;
	115	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bits = 0
	116	}
	117	break;
	118
	119	//*****
	120	// SBM2
	121	case(LFR_MODE_SBM2):
	122	if ( (waveform_picker_regs->status & 0x04) == 0x04 ){ // [0100] check the f2 full bit
	123	// (1) change the receiving buffer for the waveform picker
	124	ring_node_to_send_cwf_f2 = current_ring_node_f2;
	125	current_ring_node_f2 = current_ring_node_f2->next;
	126	waveform_picker_regs->addr_data_f2 = current_ring_node_f2->buffer_address;
	127	// (2) send an event for the waveforms transmission
	128	status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
	129	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
	130	}
	131	if ( (waveform_picker_regs->status & 0x01) == 0x01 ) { // [0001] check the f0 full bit
	132	swf_f0_ready = true;
	133	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffeee; // [1111 1110 1110 1110] f0 bits = 0
	134	}
	135	if ( (waveform_picker_regs->status & 0x02) == 0x02 ) { // [0010] check the f1 full bit
	136	swf_f1_ready = true;
	137	waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1, f0 bits = 0
	138	}
	139	break;
	140
	141	//********
	142	// DEFAULT
	143	default:
	144	break;
	145	}
	146	}
	147
	148	void spool_waveforms_alt( void )
	149	{
	150	// WFRM
	151	if (wake_up_task_wfrm == true)
	152	{
	153	rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL );
	154	wake_up_task_wfrm = false;
	155	}
	156	// CWF_F1
	157	if (wake_up_task_cwf_f1 == true)
	158	{
	159	rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
	160	wake_up_task_cwf_f1 = false;
	161	}
	162	// CWF_F2 BURST
	163	if (wake_up_task_cwf_f2_burst == true)
	164	{
	165	rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST );
	166	wake_up_task_cwf_f2_burst = false;
	167	}
	168	// CWF_F2 SBM2
	169	if (wake_up_task_cwf_f2_sbm2 == true)
	170	{
	171	rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
	172	wake_up_task_cwf_f2_sbm2 = false;
	173	}
	174	// CWF_F3
	175	if (wake_up_task_cwf_f3 == true)
	176	{
	177	rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 );
	178	wake_up_task_cwf_f3 = false;
	179	}
	180	}
	181
	182	void spool_spectral_matrices( void )
	183	{
	184	// STATUS REGISTER
	185	// input_fifo_write(2) * input_fifo_write(1) * input_fifo_write(0)
	186	// 10 9 8
	187	// buffer_full bad_component_err f2_1 f2_0 f1_1 f1_0 f0_1 ** f0_0
	188	// 7 6 5 4 3 2 1 0
	189
	190	unsigned char status_f0;
	191	unsigned char status_f1;
	192	unsigned char status_f2;
	193	static unsigned int counter = 0;
	194
	195	rtems_interrupt_level level;
	196
	197	rtems_interrupt_disable( level );
	198
	199	status_f0 = spectral_matrix_regs->status & 0x03; // [0011] get the status_ready_matrix_f0_x bits
	200	status_f1 = (spectral_matrix_regs->status & 0x0c) >> 2; // [0011] get the status_ready_matrix_f0_x bits
	201	status_f2 = (spectral_matrix_regs->status & 0x30) >> 4; // [0011] get the status_ready_matrix_f0_x bits
	202
	203	// if ( status_f0 == 0x03)
	204	// {
	205	// printf("%d \n", counter);
	206	// }
	207	if ( status_f1 == 0x03)
	208	{
	209	printf("f1 %d \n", counter);
	210	}
	211	if ( status_f2 == 0x03)
	212	{
	213	printf("f2 %d \n", counter);
	214	}
	215
	216	spectral_matrices_isr_f0();
	217
	218	spectral_matrices_isr_f1();
	219
	220	spectral_matrices_isr_f2();
	221
	222	spectral_matrix_isr_error_handler();
	223
	224	rtems_interrupt_enable( level );
	225
	226	counter = counter + 1;
	227	}
	228
	229	//************
	230	// RTEMS TASKS
	231
	232	rtems_task spoo_task(rtems_task_argument argument)
	233	{
	234	rtems_status_code status;
	235
	236	BOOT_PRINTF("in SPOOL ***\n")
	237
	238	if (rtems_rate_monotonic_ident( name_spool_rate_monotonic, &spool_period_id) != RTEMS_SUCCESSFUL) {
	239	status = rtems_rate_monotonic_create( name_spool_rate_monotonic, &spool_period_id );
	240	if( status != RTEMS_SUCCESSFUL ) {
	241	PRINTF1( "in SPOO *** rtems_rate_monotonic_create failed with status %d\n", status )
	242	}
	243	}
	244
	245	status = rtems_rate_monotonic_cancel( spool_period_id );
	246	if( status != RTEMS_SUCCESSFUL )
	247	{
	248	PRINTF1( "ERR * in SPOOL * rtems_rate_monotonic_cancel(spool_period_id) ***code: %d\n", status )
	249	}
	250	else
	251	{
	252	DEBUG_PRINTF("OK * in SPOOL * rtems_rate_monotonic_cancel(spool_period_id)\n")
	253	}
	254
	255	while(1){ // launch the rate monotonic task
	256	// status = rtems_rate_monotonic_period( spool_period_id, SPOOL_TIMEOUT_in_ticks );
	257	rtems_task_wake_after( SPOOL_TIMEOUT_in_ticks / 2 );
	258	spool_waveforms_alt();
	259	spool_spectral_matrices();
	260	// if ( status != RTEMS_SUCCESSFUL )
	261	// {
	262	// PRINTF1( "in SPOOL *** ERR period: %d\n", status);
	263	// }
	264	// else
	265	// {
	266	// spool_waveforms();
	267	// spool_spectral_matrices();
	268	// }
	269	}
	270
	271	PRINTF("in SPOOL *** deleting task\n")
	272
	273	status = rtems_task_delete( RTEMS_SELF ); // should not return
	274	printf( "rtems_task_delete returned with status of %d.\n", status );
	275	return;
	276	}

FSW-qt/Makefile +9 -4

             #############################################################################
             # Makefile for building: bin/fsw
-            # Generated by qmake (2.01a) (Qt 4.8.6) on: Tue Jul 15 15:57:23 2014
+            # Generated by qmake (2.01a) (Qt 4.8.6) on: Thu Jul 17 15:49:45 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=2 -DSW_VERSION_N2=0 -DSW_VERSION_N3=1 -DSW_VERSION_N4=0 -DPRINT_MESSAGES_ON_CONSOLE
+            DEFINES       = -DSW_VERSION_N1=2 -DSW_VERSION_N2=0 -DSW_VERSION_N3=1 -DSW_VERSION_N4=1 -DPRINT_MESSAGES_ON_CONSOLE -DPRINT_TASK_STATISTICS -DFAST_SCHEDULER
             CFLAGS        = -pipe -O3 -Wall $(DEFINES)
             CXXFLAGS      = -pipe -O3 -Wall $(DEFINES)
             INCPATH       = -I/usr/lib64/qt4/mkspecs/linux-g++ -I. -I../src -I../header -I../header/processing -I../src/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_misc.c \
             		../src/fsw_init.c \
             		../src/fsw_globals.c \
             		../src/fsw_spacewire.c \
             		../src/tc_load_dump_parameters.c \
             		../src/tm_lfr_tc_exe.c \
             		../src/tc_acceptance.c \
             		../src/processing/fsw_processing.c \
             		../src/processing/avf0_prc0.c \
             		../src/processing/avf1_prc1.c \
             		../src/processing/avf2_prc2.c \
             		../src/lfr_cpu_usage_report.c \
-            		../src/LFR_basic-parameters/basic_parameters.c
+            		../src/LFR_basic-parameters/basic_parameters.c \
+            		../src/fsw_spool.c
             OBJECTS       = obj/wf_handler.o \
             		obj/tc_handler.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/fsw_processing.o \
             		obj/avf0_prc0.o \
             		obj/avf1_prc1.o \
             		obj/avf2_prc2.o \
             		obj/lfr_cpu_usage_report.o \
-            		obj/basic_parameters.o
+            		obj/basic_parameters.o \
+            		obj/fsw_spool.o
             DIST          = /usr/lib64/qt4/mkspecs/common/unix.conf \
             		/usr/lib64/qt4/mkspecs/common/linux.conf \
             		/usr/lib64/qt4/mkspecs/common/gcc-base.conf \
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             		/usr/lib64/qt4/mkspecs/modules/qt_webkit.pri \
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             		sparc.pri \
             		/usr/lib64/qt4/mkspecs/features/release.prf \
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             		/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_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/fsw_processing.o: ../src/processing/fsw_processing.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_processing.o ../src/processing/fsw_processing.c
             obj/avf0_prc0.o: ../src/processing/avf0_prc0.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/avf0_prc0.o ../src/processing/avf0_prc0.c
             obj/avf1_prc1.o: ../src/processing/avf1_prc1.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/avf1_prc1.o ../src/processing/avf1_prc1.c
             obj/avf2_prc2.o: ../src/processing/avf2_prc2.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/avf2_prc2.o ../src/processing/avf2_prc2.c
             obj/lfr_cpu_usage_report.o: ../src/lfr_cpu_usage_report.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/lfr_cpu_usage_report.o ../src/lfr_cpu_usage_report.c
             obj/basic_parameters.o: ../src/LFR_basic-parameters/basic_parameters.c
             	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/basic_parameters.o ../src/LFR_basic-parameters/basic_parameters.c
+            obj/fsw_spool.o: ../src/fsw_spool.c
+            	$(CC) -c $(CFLAGS) $(INCPATH) -o obj/fsw_spool.o ../src/fsw_spool.c
             ####### Install
             install:   FORCE
             uninstall:   FORCE
             FORCE:

FSW-qt/bin/Makefile +4 -5

             SREC_PREFIX = RpwLfrApp
-            SREC_COUNTER_TEXT = 0003
+            SREC_COUNTER = 0003
-            SREC_COUNTER_DATA = 0004
+            SREC_FSW_REF = rev-2-0-1-0
-            SREC_FSW_REF = rev-1-0-0-7
             SREC_SUFFIX = .srec
-            SREC_TEXT = $(SREC_PREFIX)_$(SREC_COUNTER_TEXT)_text_$(SREC_FSW_REF)$(SREC_SUFFIX)
+            SREC_TEXT = $(SREC_PREFIX)_$(SREC_COUNTER)_text_$(SREC_FSW_REF)$(SREC_SUFFIX)
-            SREC_DATA = $(SREC_PREFIX)_$(SREC_COUNTER_DATA)_data_$(SREC_FSW_REF)$(SREC_SUFFIX)
+            SREC_DATA = $(SREC_PREFIX)_$(SREC_COUNTER)_data_$(SREC_FSW_REF)$(SREC_SUFFIX)
             OBJCOPY = sparc-rtems-objcopy
             OBJCOPY_OPT = -g -v
             all: text data
             text: fsw
             	$(OBJCOPY) $(OBJCOPY_OPT) fsw $(SREC_TEXT) -O srec -j .text
             data: fsw
             	$(OBJCOPY) $(OBJCOPY_OPT) fsw $(SREC_DATA) -O srec -j .data
             clean:
             	rm *.srec

FSW-qt/fsw-qt.pro +10 -4

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options = verbose *** boot_messages *** debug_messages *** cpu_usage_report *** stack_report *** vhdl_dev *** debug_tch
-            CONFIG += console verbose
+            CONFIG += console verbose fast_scheduler cpu_usage_report
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-1-0
             DEFINES += SW_VERSION_N1=2 # major
             DEFINES += SW_VERSION_N2=0 # minor
             DEFINES += SW_VERSION_N3=1 # patch
-            DEFINES += SW_VERSION_N4=0 # internal
+            DEFINES += SW_VERSION_N4=1 # 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
             }
+            contains( CONFIG, fast_scheduler ) {
+                DEFINES += FAST_SCHEDULER
+            }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             INCLUDEPATH += \
                 ../src \
                 ../header \
                 ../header/processing \
                 ../src/LFR_basic-parameters
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c \
                 ../src/processing/fsw_processing.c \
                 ../src/processing/avf0_prc0.c \
                 ../src/processing/avf1_prc1.c \
                 ../src/processing/avf2_prc2.c \
                 ../src/lfr_cpu_usage_report.c \
-                ../src/LFR_basic-parameters/basic_parameters.c
+                ../src/LFR_basic-parameters/basic_parameters.c \
+                ../src/fsw_spool.c
             HEADERS += \
                 ../header/wf_handler.h \
                 ../header/tc_handler.h \
                 ../header/grlib_regs.h \
                 ../header/fsw_params.h \
                 ../header/fsw_misc.h \
                 ../header/fsw_init.h \
                 ../header/ccsds_types.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 \
                 ../header/fsw_params_processing.h \
                 ../header/processing/fsw_processing.h \
                 ../header/processing/avf0_prc0.h \
                 ../header/processing/avf1_prc1.h \
                 ../header/processing/avf2_prc2.h \
                 ../header/fsw_params_wf_handler.h \
                 ../header/lfr_cpu_usage_report.h \
                 ../src/LFR_basic-parameters/basic_parameters.h \
-                ../src/LFR_basic-parameters/basic_parameters_params.h
+                ../src/LFR_basic-parameters/basic_parameters_params.h \
+                ../header/fsw_spool.h

FSW-qt/fsw-qt.pro.user +4 -1

             <?xml version="1.0" encoding="UTF-8"?>
             <!DOCTYPE QtCreatorProject>
-            <!-- Written by QtCreator 3.0.1, 2014-07-15T16:01:49. -->
+            <!-- Written by QtCreator 3.1.2, 2014-08-28T14:53:30. -->
             <qtcreator>
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               <variable>ProjectExplorer.Project.ActiveTarget</variable>
               <value type="int">0</value>
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                <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>
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                  <value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
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                <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
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header/fsw_init.h +3 -2

             #ifndef FSW_INIT_H_INCLUDED
             #define FSW_INIT_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "fsw_params.h"
             #include "fsw_misc.h"
             #include "fsw_processing.h"
             #include "tc_handler.h"
             #include "wf_handler.h"
             #include "fsw_spacewire.h"
             #include "avf0_prc0.h"
             #include "avf1_prc1.h"
             #include "avf2_prc2.h"
+            #include "fsw_spool.h"
-            extern rtems_name  Task_name[20];       /* array of task names */
+            extern rtems_name  Task_name[];       /* array of task names */
-            extern rtems_id    Task_id[20];         /* array of task ids */
+            extern rtems_id    Task_id[];         /* array of task ids */
             // RTEMS TASKS
             rtems_task Init( rtems_task_argument argument);
             // OTHER functions
             void create_names( void );
             int create_all_tasks( void );
             int start_all_tasks( void );
             //
             rtems_status_code create_message_queues( void );
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id );
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id );
             //
             int start_recv_send_tasks( void );
             //
             void init_local_mode_parameters( void );
             void reset_local_time( void );
             extern int rtems_cpu_usage_report( void );
             extern int rtems_cpu_usage_reset( void );
             extern void rtems_stack_checker_report_usage( void );
             extern int sched_yield( void );
             #endif // FSW_INIT_H_INCLUDED

header/fsw_params.h +21 -5

             #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
             #define NB_RING_NODES_F3 3      // 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_NORM_BP1_F0         RTEMS_EVENT_6
             #define RTEMS_EVENT_NORM_BP2_F0         RTEMS_EVENT_7
             #define RTEMS_EVENT_NORM_ASM_F0         RTEMS_EVENT_8   // ASM only in NORM mode
             #define RTEMS_EVENT_NORM_BP1_F1         RTEMS_EVENT_9
             #define RTEMS_EVENT_NORM_BP2_F1         RTEMS_EVENT_10
             #define RTEMS_EVENT_NORM_ASM_F1         RTEMS_EVENT_11  // ASM only in NORM mode
             #define RTEMS_EVENT_NORM_BP1_F2         RTEMS_EVENT_12
             #define RTEMS_EVENT_NORM_BP2_F2         RTEMS_EVENT_13
             #define RTEMS_EVENT_NORM_ASM_F2         RTEMS_EVENT_14  // ASM only in NORM mode
             #define RTEMS_EVENT_SBM_BP1_F0    RTEMS_EVENT_15
             #define RTEMS_EVENT_SBM_BP2_F0    RTEMS_EVENT_16
             #define RTEMS_EVENT_SBM_BP1_F1    RTEMS_EVENT_17
             #define RTEMS_EVENT_SBM_BP2_F1    RTEMS_EVENT_18
             #define RTEMS_EVENT_BURST_BP1_F0    RTEMS_EVENT_19
             #define RTEMS_EVENT_BURST_BP2_F0    RTEMS_EVENT_20
             #define RTEMS_EVENT_BURST_BP1_F1    RTEMS_EVENT_21
             #define RTEMS_EVENT_BURST_BP2_F1    RTEMS_EVENT_22
             //****************************
             // 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
             #define REGS_ADDR_SPECTRAL_MATRIX   0x80000f00
             #define REGS_ADDR_WAVEFORM_PICKER   0x80000f50
             #define REGS_ADDR_VHDL_VERSION      0x80000ff0
             #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 (10416 - 1)     // 10 ms => nominal is 1/96 = 0.010416667, 10417 - 1 = 10416
+            #ifdef FAST_SCHEDULER
-            #define TIMER_SM_SIMULATOR 1
+                #define CLKDIV_SM_SIMULATOR (10416 - 1)     // 10 ms => nominal is 1/96 = 0.010416667, 10417 - 1 = 10416
-            #define HK_PERIOD                           100     // 100 * 10ms => 1s
+                #define TIMER_SM_SIMULATOR 1
-            #define SY_LFR_TIME_SYN_TIMEOUT_in_ms       2000
+                #define HK_PERIOD                           1000    // 1000  * 1ms = 1s
-            #define SY_LFR_TIME_SYN_TIMEOUT_in_ticks    200     // 200 * 10 ms = 2 s
+                #define SY_LFR_TIME_SYN_TIMEOUT_in_ms       2000
+                #define SY_LFR_TIME_SYN_TIMEOUT_in_ticks    2000    // 2000  * 1ms = 2s
+                #define SPOOL_TIMEOUT_in_ms                 10
+                #define SPOOL_TIMEOUT_in_ticks              5      // 10    * 1ms = 10ms
+                #define STAT_TASK_PERIOD                    10000   // 10000 * 1ms = 10s
+            #else
+                #define CLKDIV_SM_SIMULATOR (10416 - 1)     // 10 ms => nominal is 1/96 = 0.010416667, 10417 - 1 = 10416
+                #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
+                #define SPOOL_TIMEOUT_in_ms                 10
+                #define SPOOL_TIMEOUT_in_ticks              1       // 200 * 10 ms = 2 s
+                #define STAT_TASK_PERIOD                    1000    // 1000 * 10ms = 10s
+            #endif
             //**********
             // LPP CODES
             #define LFR_SUCCESSFUL  0
             #define LFR_DEFAULT     1
             #define LFR_EXE_ERROR   2
             //******
             // RTEMS
             #define TASKID_RECV 1
             #define TASKID_ACTN 2
             #define TASKID_SPIQ 3
             #define TASKID_STAT 4
             #define TASKID_AVF0 5
             #define TASKID_SWBD 6
             #define TASKID_WFRM 7
             #define TASKID_DUMB 8
             #define TASKID_HOUS 9
             #define TASKID_PRC0 10
             #define TASKID_CWF3 11
             #define TASKID_CWF2 12
             #define TASKID_CWF1 13
             #define TASKID_SEND 14
             #define TASKID_WTDG 15
             #define TASKID_AVF1 16
             #define TASKID_PRC1 17
             #define TASKID_AVF2 18
             #define TASKID_PRC2 19
+            #define TASKID_SPOO 20
             #define TASK_PRIORITY_SPIQ 5
             #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_AVF1 70
             #define TASK_PRIORITY_PRC0 100
             #define TASK_PRIORITY_PRC1 100
             #define TASK_PRIORITY_AVF2 110
             #define TASK_PRIORITY_PRC2 110
+            #define TASK_PRIORITY_SPOO 150
             #define TASK_PRIORITY_STAT 200
             #define TASK_PRIORITY_DUMB 200
             #define MSG_QUEUE_COUNT_RECV  10
             #define MSG_QUEUE_COUNT_SEND  50
             #define MSG_QUEUE_COUNT_PRC0  10
             #define MSG_QUEUE_COUNT_PRC1  10
             #define MSG_QUEUE_COUNT_PRC2  5
             #define MSG_QUEUE_SIZE_SEND             810 // 806 + 4 => TM_LFR_SCIENCE_BURST_BP2_F1
             #define ACTION_MSG_SPW_IOCTL_SEND_SIZE  24  // hlen *hdr dlen *data sent options
             #define MSG_QUEUE_SIZE_PRC0             20  // two pointers and one rtems_event + 2 integers
             #define MSG_QUEUE_SIZE_PRC1             20  // two pointers and one rtems_event + 2 integers
             #define MSG_QUEUE_SIZE_PRC2             20  // two pointers and one rtems_event + 2 integers
             #define QUEUE_RECV 0
             #define QUEUE_SEND 1
             #define QUEUE_PRC0 2
             #define QUEUE_PRC1 3
             #define QUEUE_PRC2 4
             //*******
             // 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;
             };
             #endif // FSW_PARAMS_H_INCLUDED

header/processing/fsw_processing.h +6 -2

             #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"
             typedef struct ring_node_sm
             {
                 struct ring_node_sm *previous;
                 struct ring_node_sm *next;
                 int buffer_address;
                 unsigned int status;
                 unsigned int coarseTime;
                 unsigned int fineTime;
             } ring_node_sm;
             typedef struct ring_node_asm
             {
                 struct ring_node_asm *next;
                 float  matrix[ TOTAL_SIZE_SM ];
                 unsigned int status;
             } ring_node_asm;
             typedef struct
             {
                 Header_TM_LFR_SCIENCE_BP_t header;
                 unsigned char data[ 30 * 22 ];   // MAX size is 22 * 30 [TM_LFR_SCIENCE_BURST_BP2_F1]
             } bp_packet;
             typedef struct
             {
                 Header_TM_LFR_SCIENCE_BP_with_spare_t header;
                 unsigned char data[ 9 * 13 ];   // only for TM_LFR_SCIENCE_NORMAL_BP1_F0 and F1
             } bp_packet_with_spare;
             typedef struct
             {
                 ring_node_asm *norm;
                 ring_node_asm *burst_sbm;
                 rtems_event_set event;
                 unsigned int coarseTime;
                 unsigned int fineTime;
             } asm_msg;
             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_name  misc_name[];
-            extern rtems_id    Task_id[20];         /* array of task ids */
+            extern rtems_id    Task_id[];         /* array of task ids */
             // ISR
+            void spectral_matrices_isr_f0( void );
+            void spectral_matrices_isr_f1( void );
+            void spectral_matrices_isr_f2( void );
+            void spectral_matrix_isr_error_handler( void );
             rtems_isr spectral_matrices_isr( rtems_vector_number vector );
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector );
             //******************
             // Spectral Matrices
             void reset_nb_sm( void );
             // SM
             void SM_init_rings( void );
             void SM_reset_current_ring_nodes( void );
             void SM_generic_init_ring(ring_node_sm *ring, unsigned char nbNodes, volatile int sm_f[] );
             // ASM
             void ASM_generic_init_ring(ring_node_asm *ring, unsigned char nbNodes );
             void ASM_init_header( Header_TM_LFR_SCIENCE_ASM_t *header);
             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);
             //*****************
             // Basic Parameters
             void BP_reset_current_ring_nodes( void );
             void BP_init_header( Header_TM_LFR_SCIENCE_BP_t *header,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength , unsigned char blkNr);
             void BP_init_header_with_spare( Header_TM_LFR_SCIENCE_BP_with_spare_t *header,
                                             unsigned int apid, unsigned char sid,
                                             unsigned int packetLength, unsigned char blkNr );
             void BP_send( char *data,
                           rtems_id queue_id ,
                           unsigned int nbBytesToSend , unsigned int sid );
             //******************
             // general functions
             void reset_spectral_matrix_regs( void );
             void set_time(unsigned char *time, unsigned char *timeInBuffer );
             unsigned long long int get_acquisition_time( unsigned char *timePtr );
             void close_matrix_actions(unsigned int *nb_sm, unsigned int nb_sm_before_avf, rtems_id task_id,
                                        ring_node_sm *node_for_averaging, ring_node_sm *ringNode, unsigned long long int time);
             unsigned char getSID( rtems_event_set event );
             extern rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id );
             //***************************************
             // DEFINITIONS OF STATIC INLINE FUNCTIONS
             static inline void SM_average( float *averaged_spec_mat_NORM, float *averaged_spec_mat_SBM,
                               ring_node_sm *ring_node_tab[],
                               unsigned int nbAverageNORM, unsigned int nbAverageSBM );
             static inline void ASM_reorganize_and_divide(float *averaged_spec_mat, float *averaged_spec_mat_reorganized,
                                            float divider );
             static inline void ASM_compress_reorganize_and_divide(float *averaged_spec_mat, float *compressed_spec_mat,
                                               float divider,
                                               unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage , unsigned char ASMIndexStart);
             static inline void ASM_convert(volatile float *input_matrix, char *output_matrix);
             void SM_average( float *averaged_spec_mat_NORM, float *averaged_spec_mat_SBM,
                               ring_node_sm *ring_node_tab[],
                               unsigned int nbAverageNORM, unsigned int nbAverageSBM )
             {
                 float sum;
                 unsigned int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     sum = ( (int *) (ring_node_tab[0]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[1]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[2]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[3]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[4]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[5]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[6]->buffer_address) ) [ i ]
                             + ( (int *) (ring_node_tab[7]->buffer_address) ) [ i ];
                     if ( (nbAverageNORM == 0) && (nbAverageSBM == 0) )
                     {
                         averaged_spec_mat_NORM[ i ] = sum;
                         averaged_spec_mat_SBM[  i ] = sum;
                     }
                     else if ( (nbAverageNORM != 0) && (nbAverageSBM != 0) )
                     {
                         averaged_spec_mat_NORM[ i ] = ( averaged_spec_mat_NORM[  i ] + sum );
                         averaged_spec_mat_SBM[  i ] = ( averaged_spec_mat_SBM[   i ] + sum );
                     }
                     else if ( (nbAverageNORM != 0) && (nbAverageSBM == 0) )
                     {
                         averaged_spec_mat_NORM[ i ] = ( averaged_spec_mat_NORM[ i ] + sum );
                         averaged_spec_mat_SBM[  i ] = sum;
                     }
                     else
                     {
                         PRINTF2("ERR *** in SM_average *** unexpected parameters %d %d\n", nbAverageNORM, nbAverageSBM)
                     }
                 }
             }
             void ASM_reorganize_and_divide( float *averaged_spec_mat, float *averaged_spec_mat_reorganized, float divider )
             {
                 int frequencyBin;
                 int asmComponent;
                 unsigned int offsetAveragedSpecMatReorganized;
                 unsigned int offsetAveragedSpecMat;
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < NB_BINS_PER_SM; frequencyBin++ )
                     {
                         offsetAveragedSpecMatReorganized =
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetAveragedSpecMat            =
                                 asmComponent * NB_BINS_PER_SM
                                 + frequencyBin;
                         averaged_spec_mat_reorganized[offsetAveragedSpecMatReorganized  ] =
                                 averaged_spec_mat[ offsetAveragedSpecMat ] / divider;
                     }
                 }
             }
             void ASM_compress_reorganize_and_divide(float *averaged_spec_mat, float *compressed_spec_mat , float divider,
                                              unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage, unsigned char ASMIndexStart )
             {
                 int frequencyBin;
                 int asmComponent;
                 int offsetASM;
                 int offsetCompressed;
                 int k;
                 // build data
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < nbBinsCompressedMatrix; frequencyBin++ )
                     {
                         offsetCompressed =  // NO TIME OFFSET
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetASM =         // NO TIME OFFSET
                                 asmComponent * NB_BINS_PER_SM
                                 + ASMIndexStart
                                 + frequencyBin * nbBinsToAverage;
                         compressed_spec_mat[ offsetCompressed ] = 0;
                         for ( k = 0; k < nbBinsToAverage; k++ )
                         {
                             compressed_spec_mat[offsetCompressed ] =
                                     ( compressed_spec_mat[ offsetCompressed ]
                                     + averaged_spec_mat[ offsetASM + k ] ) / (divider * nbBinsToAverage);
                         }
                     }
                 }
             }
             void ASM_convert( volatile float *input_matrix, char *output_matrix)
             {
                 unsigned int frequencyBin;
                 unsigned int asmComponent;
                 char * pt_char_input;
                 char * pt_char_output;
                 unsigned int offsetInput;
                 unsigned int offsetOutput;
                 pt_char_input = (char*) &input_matrix;
                 pt_char_output = (char*) &output_matrix;
                 // convert all other data
                 for( frequencyBin=0; frequencyBin<NB_BINS_PER_SM; frequencyBin++)
                 {
                     for ( asmComponent=0; asmComponent<NB_VALUES_PER_SM; asmComponent++)
                     {
                         offsetInput  =       (frequencyBin*NB_VALUES_PER_SM) + asmComponent   ;
                         offsetOutput = 2 * ( (frequencyBin*NB_VALUES_PER_SM) + asmComponent ) ;
                         pt_char_input =  (char*) &input_matrix [ offsetInput  ];
                         pt_char_output = (char*) &output_matrix[ offsetOutput ];
                         pt_char_output[0] = pt_char_input[0];   // bits 31 downto 24 of the float
                         pt_char_output[1] = pt_char_input[1];   // bits 23 downto 16 of the float
                     }
                 }
             }
             #endif // FSW_PROCESSING_H_INCLUDED

header/tc_handler.h +2 0

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "tc_load_dump_parameters.h"
             #include "tc_acceptance.h"
             #include "tm_lfr_tc_exe.h"
             #include "wf_handler.h"
             #include "fsw_processing.h"
             #include "lfr_cpu_usage_report.h"
             // 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);
             int action_update_info( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_enable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_disable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_update_time( ccsdsTelecommandPacket_t *TC);
             // mode transition
             int check_mode_value( unsigned char requestedMode );
             int check_mode_transition( unsigned char requestedMode );
             int check_transition_date( unsigned int transitionCoarseTime );
             int stop_current_mode( void );
             int enter_mode( unsigned char mode , unsigned int transitionCoarseTime );
             int restart_science_tasks(unsigned char lfrRequestedMode );
             int suspend_science_tasks();
             void launch_waveform_picker(unsigned char mode , unsigned int transitionCoarseTime);
+            void launch_waveform_picker_spool(unsigned char mode , unsigned int transitionCoarseTime);
             void launch_spectral_matrix( void );
+            void launch_spectral_matrix_spool( void );
             void launch_spectral_matrix_simu( void );
             void set_irq_on_new_ready_matrix(unsigned char value );
             void set_run_matrix_spectral( unsigned char value );
             // other functions
             void updateLFRCurrentMode();
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
             extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
             #endif // TC_HANDLER_H_INCLUDED

header/wf_handler.h +2 -1

             #ifndef WF_HANDLER_H_INCLUDED
             #define WF_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <stdio.h>
             #include <math.h>
             #include "fsw_params.h"
             #include "fsw_spacewire.h"
             #include "fsw_misc.h"
             #include "fsw_params_wf_handler.h"
             #define pi 3.1415
             extern int fdSPW;
             //*****************
             // waveform buffers
             extern volatile int wf_snap_f0[ ];
             extern volatile int wf_snap_f1[ ];
             extern volatile int wf_snap_f2[ ];
             extern volatile int wf_cont_f3[ ];
             extern char wf_cont_f3_light[ ];
             extern waveform_picker_regs_new_t *waveform_picker_regs;
             extern time_management_regs_t *time_management_regs;
             extern Packet_TM_LFR_HK_t housekeeping_packet;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             extern struct param_local_str param_local;
             extern unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             extern unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
-            extern rtems_id    Task_id[20];         /* array of task ids */
+            extern rtems_id    Task_id[];         /* array of task ids */
             extern unsigned char lfrCurrentMode;
             //**********
             // RTEMS_ISR
             void reset_extractSWF( void );
             rtems_isr waveforms_isr( rtems_vector_number vector );
+            rtems_isr waveforms_isr_alt( rtems_vector_number vector );
             //***********
             // RTEMS_TASK
             rtems_task wfrm_task( rtems_task_argument argument );
             rtems_task cwf3_task( rtems_task_argument argument );
             rtems_task cwf2_task( rtems_task_argument argument );
             rtems_task cwf1_task( rtems_task_argument argument );
             rtems_task swbd_task( rtems_task_argument argument );
             //******************
             // general functions
             void WFP_init_rings( void );
             void init_waveform_ring( ring_node waveform_ring[], unsigned char nbNodes, volatile int wfrm[] );
             void WFP_reset_current_ring_nodes( void );
             //
             int init_header_snapshot_wf_table(      unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF );
             int init_header_continuous_wf_table(    unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF );
             int init_header_continuous_cwf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF );
             //
             int send_waveform_SWF(  volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_SWF_t *headerSWF, rtems_id queue_id );
             int send_waveform_CWF(  volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id );
             int send_waveform_CWF3( volatile int *waveform, unsigned int sid, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id );
             int send_waveform_CWF3_light( volatile int *waveform, Header_TM_LFR_SCIENCE_CWF_t *headerCWF, rtems_id queue_id );
             //
             void compute_acquisition_time(unsigned int coarseTime, unsigned int fineTime,
                                           unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char *acquisitionTime );
             void build_snapshot_from_ring(ring_node *ring_node_to_send , unsigned char frequencyChannel );
             void build_acquisition_time( unsigned long long int * acquisitionTimeAslong, ring_node *current_ring_node );
             //
             rtems_id get_pkts_queue_id( void );
             //**************
             // wfp registers
             // RESET
             void reset_wfp_burst_enable( void );
             void reset_wfp_status(void);
             void reset_waveform_picker_regs( void );
             // SET
             void set_wfp_data_shaping(void);
             void set_wfp_burst_enable_register( unsigned char mode );
             void set_wfp_delta_snapshot( void );
             void set_wfp_delta_f0_f0_2( void );
             void set_wfp_delta_f1( void );
             void set_wfp_delta_f2( void );
             //*****************
             // local parameters
             void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid );
             #endif // WF_HANDLER_H_INCLUDED

src/fsw_globals.c +2 -2

             /** Global variables of the LFR flight software.
              *
              * @file
              * @author P. LEROY
              *
              * Among global variables, there are:
              * - RTEMS names and id.
              * - APB configuration registers.
              * - waveforms global buffers, used by the waveform picker hardware module to store data.
              * - spectral  matrices buffesr, used by the hardware module to store data.
              * - variable related to LFR modes parameters.
              * - the global HK packet buffer.
              * - the global dump parameter buffer.
              *
              */
             #include <rtems.h>
             #include <grspw.h>
             #include "ccsds_types.h"
             #include "grlib_regs.h"
             #include "fsw_params.h"
             #include "fsw_params_wf_handler.h"
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[5];
             rtems_id    misc_id[5];
-            rtems_name  Task_name[20];       /* array of task names */
+            rtems_name  Task_name[21];       /* array of task names */
-            rtems_id    Task_id[20];         /* array of task ids */
+            rtems_id    Task_id[21];         /* array of task ids */
             unsigned int maxCount;
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             // WAVEFORMS GLOBAL VARIABLES   // 2048 * 3 * 4 + 2 * 4 = 24576 + 8 bytes = 24584
                                             //  97 * 256 = 24832 => delta = 248 bytes = 62 words
             // WAVEFORMS GLOBAL VARIABLES   // 2688 * 3 * 4 + 2 * 4 = 32256 + 8 bytes = 32264
                                             // 127 * 256 = 32512 => delta = 248 bytes = 62 words
             // F0 F1 F2 F3
             volatile int wf_snap_f0[ NB_RING_NODES_F0 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_snap_f1[ NB_RING_NODES_F1 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_snap_f2[ NB_RING_NODES_F2 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_cont_f3[ NB_RING_NODES_F3 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             char         wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK + TIME_OFFSET_IN_BYTES ] __attribute__((aligned(0x100)));
             //***********************************
             // SPECTRAL MATRICES GLOBAL VARIABLES
             // alignment constraints for the spectral matrices buffers => the first data after the time (8 bytes) shall be aligned on 0x00
             volatile int sm_f0[ NB_RING_NODES_SM_F0 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             // APB CONFIGURATION REGISTERS
             time_management_regs_t      *time_management_regs   = (time_management_regs_t*)     REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t              *gptimer_regs           = (gptimer_regs_t *)            REGS_ADDR_GPTIMER;
             waveform_picker_regs_new_t  *waveform_picker_regs   = (waveform_picker_regs_new_t*) REGS_ADDR_WAVEFORM_PICKER;
             spectral_matrix_regs_t      *spectral_matrix_regs   = (spectral_matrix_regs_t*)     REGS_ADDR_SPECTRAL_MATRIX;
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
             unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounterHK;
             unsigned short sequenceCounterParameterDump;
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +26 -6

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
-            #define CONFIGURE_MAXIMUM_TASKS 20
+            #define CONFIGURE_MAXIMUM_TASKS 21
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5  // STAT (1s), send SWF (0.3s), send CWF3 (1s)
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
+            #ifdef FAST_SCHEDULER
+                #define CONFIGURE_MICROSECONDS_PER_TICK 1000 /* 1 millisecond */
+            #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 unsigned char *vhdlVersion;
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 enable_apbuart_transmitter();
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d            **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 // waveform picker initialization
                 WFP_init_rings();      // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //******************************
                 // <SPECTRAL MATRICES SIMULATOR>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );
                 // </SPECTRAL MATRICES SIMULATOR>
                 //*******************************
                 // configure IRQ handling for the waveform picker unit
-                status = rtems_interrupt_catch( waveforms_isr,
+                status = rtems_interrupt_catch( waveforms_isr_alt,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
-                status = rtems_interrupt_catch( spectral_matrices_isr,
+            //    status = rtems_interrupt_catch( spectral_matrices_isr,
-                                               IRQ_SPARC_SPECTRAL_MATRIX,
+            //                                   IRQ_SPARC_SPECTRAL_MATRIX,
-                                               &old_isr_handler) ;
+            //                                   &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 BOOT_PRINTF1("nb_interrupt_f0_MAX = %d\n", param_local.local_nb_interrupt_f0_MAX)
                 // init sequence counters
                 for(i = 0; i<SEQ_CNT_NB_DEST_ID; i++)
                 {
                     sequenceCounters_TC_EXE[i] = 0x00;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    0x00;
                 sequenceCounterHK =                     TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                 sequenceCounterParameterDump =          TM_PACKET_SEQ_CTRL_STANDALONE << 8;
             }
             void reset_local_time( void )
             {
                 time_management_regs->ctrl = 0x02;  // software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_RECV] = rtems_build_name( 'R', 'E', 'C', 'V' );
                 Task_name[TASKID_ACTN] = rtems_build_name( 'A', 'C', 'T', 'N' );
                 Task_name[TASKID_SPIQ] = rtems_build_name( 'S', 'P', 'I', 'Q' );
                 Task_name[TASKID_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
+                Task_name[TASKID_SPOO] = rtems_build_name( 'S', 'P', 'O', 'O' );
                 // rate monotonic period names
-                name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
+                name_hk_rate_monotonic = rtems_build_name( 'R', '_', 'H', 'K' );
+                name_spool_rate_monotonic = rtems_build_name( 'R', '_', 'S', 'P' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WTDG
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES  | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // STAT
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_HOUS]
                     );
                 }
+                if (status == RTEMS_SUCCESSFUL) // SPOO
+                {
+                    status = rtems_task_create(
+                        Task_name[TASKID_SPOO], TASK_PRIORITY_SPOO, RTEMS_MINIMUM_STACK_SIZE,
+                        RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
+                        RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPOO]
+                    );
+                }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WTDG
                 {
                     status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // STAT
                 {
                     status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
                     }
                 }
+                if (status == RTEMS_SUCCESSFUL)     // SPOO
+                {
+                    status = rtems_task_start( Task_id[TASKID_SPOO], spoo_task, 1 );
+                    if (status!=RTEMS_SUCCESSFUL) {
+                        BOOT_PRINTF("in INIT *** Error starting TASK_SPOO\n")
+                    }
+                }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }

src/fsw_misc.c +2 -5

             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             void configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             {
                 /** This function configures a GPTIMER timer instantiated in the VHDL design.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  * @param interrupt_level is the interrupt level that the timer drives.
                  * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
                  *
                  * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
                  *
                  */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 gptimer_regs->timer[timer].ctrl = 0x00;  // reset the control register
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status!=RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
             }
             void timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 /** This function starts a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
             }
             void timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 /** This function stops a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
             }
             void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
             {
                 /** This function sets the clock divider of a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  *
                  */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
             }
             int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             int enable_apbuart_transmitter( void )  // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
             //************
             // RTEMS TASKS
             rtems_task stat_task(rtems_task_argument argument)
             {
                 int i;
                 int j;
                 i = 0;
                 j = 0;
                 BOOT_PRINTF("in STAT *** \n")
                 while(1){
-                    rtems_task_wake_after(1000);
+                    rtems_task_wake_after(STAT_TASK_PERIOD);
                     PRINTF1("%d\n", j)
                     if (i == CPU_USAGE_REPORT_PERIOD) {
             //            #ifdef PRINT_TASK_STATISTICS
             //            rtems_cpu_usage_report();
             //            rtems_cpu_usage_reset();
             //            #endif
                         i = 0;
                     }
                     else i++;
                     j++;
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 rtems_id queue_id;
                 rtems_rate_monotonic_period_status period_status;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n")
                 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
-                        PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
+                        PRINTF1( "in HOUS *** rtems_rate_monotonic_create failed with status of %d\n", status )
                     }
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
                 housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 housekeeping_packet.sid = SID_HK;
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 // startup phase
                 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
                 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 while(period_status.state != RATE_MONOTONIC_EXPIRED )   // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
                 {
                     if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization
                     {
                         break;  // break if LFR is synchronized
                     }
                     else
                     {
                         status = rtems_rate_monotonic_get_status( HK_id, &period_status );
             //            sched_yield();
                         status = rtems_task_wake_after( 10 );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 while(1){ // launch the rate monotonic task
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "in HOUS *** ERR period: %d\n", status);
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
                     }
                     else {
                         housekeeping_packet.packetSequenceControl[0] = (unsigned char) (sequenceCounterHK >> 8);
                         housekeeping_packet.packetSequenceControl[1] = (unsigned char) (sequenceCounterHK     );
                         increment_seq_counter( &sequenceCounterHK );
                         housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                         housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                         housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                         housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                         housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         spacewire_update_statistics();
                         get_v_e1_e2_f3( housekeeping_packet.hk_lfr_sc_v_f3 );
                         get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
                         // SEND PACKET
                         status =  rtems_message_queue_urgent( queue_id, &housekeeping_packet,
                                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR send: %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 printf( "rtems_task_delete returned with status of %d.\n", status );
                 return;
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
                  *
                  */
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 char *DumbMessages[12] = {"in DUMB *** default",                                            // RTEMS_EVENT_0
                                     "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
                                     "in DUMB *** f3 buffer changed",                                        // RTEMS_EVENT_2
                                     "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
                                     "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
                                     "in DUMB *** waveforms_simulator_isr",                                  // RTEMS_EVENT_5
                                     "ERR HK",                                                               // RTEMS_EVENT_6
                                     "ready for dump",                                                       // RTEMS_EVENT_7
                                     "VHDL ERR *** spectral matrix",                                         // RTEMS_EVENT_8
                                     "tick",                                                                 // RTEMS_EVENT_9
                                     "VHDL ERR *** waveform picker",                                         // RTEMS_EVENT_10
                                     "VHDL ERR *** unexpected ready matrix values"                           // RTEMS_EVENT_11
                 };
                 BOOT_PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
                                         | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
                                         | RTEMS_EVENT_8 | RTEMS_EVENT_9,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<32; i++)
                     {
                         if ( ((intEventOut >> i) & 0x0001) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             printf("in DUMB *** coarse: %x, fine: %x, %s\n", coarse_time, fine_time, DumbMessages[i]);
                             if (i==8)
                             {
                                 PRINTF1("spectral_matrix_regs->status = %x\n", spectral_matrix_regs->status)
                             }
                             if (i==10)
                             {
                                 PRINTF1("waveform_picker_regs->status = %x\n", waveform_picker_regs->status)
                             }
                         }
                     }
                 }
             }
             //*****************************
             // init housekeeping parameters
             void init_housekeeping_parameters( void )
             {
                 /** This function initialize the housekeeping_packet global variable with default values.
                  *
                  */
                 unsigned int i = 0;
                 unsigned char *parameters;
                 parameters = (unsigned char*) &housekeeping_packet.lfr_status_word;
                 for(i = 0; i< SIZE_HK_PARAMETERS; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
                 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1
                 housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2
                 housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3
             }
             void increment_seq_counter( unsigned short *packetSequenceControl )
             {
                 /** This function increment the sequence counter psased in argument.
                  *
                  * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
                  *
                  */
                 unsigned short segmentation_grouping_flag;
                 unsigned short sequence_cnt;
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;   // keep bits 7 downto 6
                 sequence_cnt                = (*packetSequenceControl) & 0x3fff;    // [0011 1111 1111 1111]
                 if ( sequence_cnt < SEQ_CNT_MAX)
                 {
                     sequence_cnt = sequence_cnt + 1;
                 }
                 else
                 {
                     sequence_cnt = 0;
                 }
                 *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ;
             }
             void getTime( unsigned char *time)
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 time[3] = (unsigned char) (time_management_regs->coarse_time);
                 time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             unsigned long long int getTimeAsUnsignedLongLongInt( )
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 unsigned long long int time;
                 time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 )
                         + time_management_regs->fine_time;
                 return time;
             }
             void send_dumb_hk( void )
             {
                 Packet_TM_LFR_HK_t dummy_hk_packet;
                 unsigned char *parameters;
                 unsigned int i;
                 rtems_id queue_id;
                 dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 dummy_hk_packet.reserved = DEFAULT_RESERVED;
                 dummy_hk_packet.userApplication = CCSDS_USER_APP;
                 dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
                 dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 dummy_hk_packet.serviceType = TM_TYPE_HK;
                 dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
                 dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 dummy_hk_packet.sid = SID_HK;
                 // init status word
                 dummy_hk_packet.lfr_status_word[0] = 0xff;
                 dummy_hk_packet.lfr_status_word[1] = 0xff;
                 // init software version
                 dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0);
                 dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1
                 dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2
                 dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3
                 parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
                 for (i=0; i<100; i++)
                 {
                     parameters[i] = 0xff;
                 }
                 get_message_queue_id_send( &queue_id );
                 rtems_message_queue_urgent( queue_id, &dummy_hk_packet,
                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
             }
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
             {
                 unsigned int coarseTime;
                 unsigned int acquisitionTime;
                 unsigned int deltaT = 0;
                 unsigned char *bufferPtr;
                 unsigned int offset_in_samples;
                 unsigned int offset_in_bytes;
                 unsigned char f3 = 16;    // v, e1 and e2 will be picked up each second, f3 = 16 Hz
                 if (lfrCurrentMode == LFR_MODE_STANDBY)
                 {
                     spacecraft_potential[0] = 0x00;
                     spacecraft_potential[1] = 0x00;
                     spacecraft_potential[2] = 0x00;
                     spacecraft_potential[3] = 0x00;
                     spacecraft_potential[4] = 0x00;
                     spacecraft_potential[5] = 0x00;
                 }
                 else
                 {
                     coarseTime = time_management_regs->coarse_time & 0x7fffffff;
                     bufferPtr = (unsigned char*) current_ring_node_f3->buffer_address;
                     acquisitionTime = (unsigned int) ( ( bufferPtr[0] & 0x7f ) << 24 )
                             + (unsigned int) ( bufferPtr[1] << 16 )
                             + (unsigned int) ( bufferPtr[2] << 8  )
                             + (unsigned int) ( bufferPtr[3]       );
                     if ( coarseTime > acquisitionTime )
                     {
                         deltaT = coarseTime - acquisitionTime;
                         offset_in_samples = (deltaT-1) * f3 ;
                     }
                     else if( coarseTime == acquisitionTime )
                     {
                         bufferPtr = (unsigned char*) current_ring_node_f3->previous->buffer_address;    // pick up v e1 and e2 in the previous f3 buffer
                         offset_in_samples = NB_SAMPLES_PER_SNAPSHOT-1;
                     }
                     else
                     {
                         offset_in_samples = 0;
                         PRINTF2("ERR *** in get_v_e1_e2_f3 *** coarseTime = %x, acquisitionTime = %x\n", coarseTime, acquisitionTime)
                     }
                     if ( offset_in_samples > (NB_SAMPLES_PER_SNAPSHOT - 1) )
                     {
                         PRINTF1("ERR *** in get_v_e1_e2_f3 *** trying to read out of the buffer, counter = %d\n", offset_in_samples)
                         offset_in_samples = NB_SAMPLES_PER_SNAPSHOT -1;
                     }
                     offset_in_bytes = TIME_OFFSET_IN_BYTES + offset_in_samples * NB_WORDS_SWF_BLK * 4;
                     spacecraft_potential[0] = bufferPtr[ offset_in_bytes + 0];
                     spacecraft_potential[1] = bufferPtr[ offset_in_bytes + 1];
                     spacecraft_potential[2] = bufferPtr[ offset_in_bytes + 2];
                     spacecraft_potential[3] = bufferPtr[ offset_in_bytes + 3];
                     spacecraft_potential[4] = bufferPtr[ offset_in_bytes + 4];
                     spacecraft_potential[5] = bufferPtr[ offset_in_bytes + 5];
                 }
             }
             void get_cpu_load( unsigned char *resource_statistics )
             {
                 unsigned char cpu_load;
                 cpu_load = lfr_rtems_cpu_usage_report();
                 // HK_LFR_CPU_LOAD
                 resource_statistics[0] = cpu_load;
                 // HK_LFR_CPU_LOAD_MAX
                 if (cpu_load > resource_statistics[1])
                 {
                      resource_statistics[1] = cpu_load;
                 }
                 // CPU_LOAD_AVE
                 resource_statistics[2] = 0;
             #ifndef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
             #endif
             }

src/fsw_spacewire.c +4 -1

             /** 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_and_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, 0 );
                         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 estimatedPacketLength;
                 unsigned int parserCode;
                 rtems_status_code status;
                 rtems_id queue_recv_id;
                 rtems_id queue_send_id;
                 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                 status =  get_message_queue_id_recv( &queue_recv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                     }
                     else {
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("in RECV *** packet lenght too short\n")
                         }
                         else {
                             estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8);
                             currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength     );
                             // CHECK THE TC
                             parserCode = tc_parser( &currentTC, estimatedPacketLength, computed_CRC ) ;
                             if ( (parserCode == ILLEGAL_APID)       || (parserCode == WRONG_LEN_PKT)
                                  || (parserCode == INCOR_CHECKSUM)  || (parserCode == ILL_TYPE)
                                  || (parserCode == ILL_SUBTYPE)     || (parserCode == WRONG_APP_DATA)
                                  || (parserCode == WRONG_SRC_ID) )
                             { // send TM_LFR_TC_EXE_CORRUPTED
                                 PRINTF1("TC corrupted received, with code: %d\n", parserCode)
                                 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                                      &&
                                      !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
                                      )
                                 {
                                     if ( parserCode == WRONG_SRC_ID )
                                     {
                                         destinationID = SID_TC_GROUND;
                                     }
                                     else
                                     {
                                         destinationID = currentTC.sourceID;
                                     }
                                     send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
                                                                   computed_CRC, currentTC_LEN_RCV,
                                                                   destinationID );
                                 }
                             }
                             else
                             { // send valid TC to the action launcher
                                 status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                     estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3);
                             }
                         }
                     }
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;                // RTEMS status code
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
                 u_int32_t count;
                 rtems_id queue_id;
+                rtems_interrupt_level level;
                 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 );
+                    rtems_interrupt_disable( level );
                     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_interrupt_enable( level );
                 }
             }
             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_and_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 )  // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);]
             {
                 /** This function opens the SpaceWire link.
                  *
                  * @return a valid file descriptor in case of success, -1 in case of a failure
                  *
                  */
                 rtems_status_code status;
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
                 if ( fdSPW < 0 ) {
                     PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
             int spacewire_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_stop_and_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_STOP);      // start fails if link pDev->running != 0
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_configure_link( int fd )
             {
                 /** This function configures the SpaceWire link.
                  *
                  * @return GR-RTEMS-DRIVER directive status codes:
                  * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                  * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                  * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                  * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                  * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                  * - 5   EIO - Error when writing to grswp hardware registers.
                  * - 2   ENOENT - No such file or directory
                  */
                 rtems_status_code status;
                 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n") // link-error interrupt occurs
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 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_and_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
                     }
                     if ( status_spw == RTEMS_SUCCESSFUL)
                     {
                         break;
                     }
                 }
                 return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & 0xffdfffff;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             void spacewire_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 )
             {
             //    rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_9 );
                 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/processing/fsw_processing.c +6 -4

             /** 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"
             unsigned int nb_sm_f0;
             unsigned int nb_sm_f0_aux_f1;
             unsigned int nb_sm_f1;
             unsigned int nb_sm_f0_aux_f2;
             //************************
             // spectral matrices rings
             ring_node_sm sm_ring_f0[ NB_RING_NODES_SM_F0 ];
             ring_node_sm sm_ring_f1[ NB_RING_NODES_SM_F1 ];
             ring_node_sm sm_ring_f2[ NB_RING_NODES_SM_F2 ];
             ring_node_sm *current_ring_node_sm_f0;
             ring_node_sm *current_ring_node_sm_f1;
             ring_node_sm *current_ring_node_sm_f2;
             ring_node_sm *ring_node_for_averaging_sm_f0;
             ring_node_sm *ring_node_for_averaging_sm_f1;
             ring_node_sm *ring_node_for_averaging_sm_f2;
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             void spectral_matrices_isr_f0( void )
             {
                 unsigned char status;
                 unsigned long long int time_0;
                 unsigned long long int time_1;
                 unsigned long long int syncBit0;
                 unsigned long long int syncBit1;
                 status = spectral_matrix_regs->status & 0x03;   // [0011] get the status_ready_matrix_f0_x bits
                 time_0 = get_acquisition_time( (unsigned char *) &spectral_matrix_regs->f0_0_coarse_time );
                 time_1 = get_acquisition_time( (unsigned char *) &spectral_matrix_regs->f0_1_coarse_time );
                 syncBit0 = ( (unsigned long long int) (spectral_matrix_regs->f0_0_coarse_time & 0x80000000) ) << 16;
                 syncBit1 = ( (unsigned long long int) (spectral_matrix_regs->f0_1_coarse_time & 0x80000000) ) << 16;
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     if ( time_0 < time_1 )
                     {
                         close_matrix_actions( &nb_sm_f0, NB_SM_BEFORE_AVF0, Task_id[TASKID_AVF0],
                                               ring_node_for_averaging_sm_f0, current_ring_node_sm_f0, time_0 | syncBit0);
                         current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                         spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->buffer_address;
                         close_matrix_actions( &nb_sm_f0, NB_SM_BEFORE_AVF0, Task_id[TASKID_AVF0],
                                               ring_node_for_averaging_sm_f0, current_ring_node_sm_f0, time_1 | syncBit1);
                         current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                         spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                     }
                     else
                     {
                         close_matrix_actions( &nb_sm_f0, NB_SM_BEFORE_AVF0, Task_id[TASKID_AVF0],
                                               ring_node_for_averaging_sm_f0, current_ring_node_sm_f0, time_1 | syncBit1);
                         current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                         spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                         close_matrix_actions( &nb_sm_f0, NB_SM_BEFORE_AVF0, Task_id[TASKID_AVF0],
                                               ring_node_for_averaging_sm_f0, current_ring_node_sm_f0, time_0 | syncBit0);
                         current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                         spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->buffer_address;
                     }
                     spectral_matrix_regs->status = 0x03;   // [0011]
                     break;
                 case 1:
                     close_matrix_actions( &nb_sm_f0, NB_SM_BEFORE_AVF0, Task_id[TASKID_AVF0],
                                           ring_node_for_averaging_sm_f0, current_ring_node_sm_f0, time_0 | syncBit0);
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->buffer_address;
                     spectral_matrix_regs->status = 0x01;   // [0001]
                     break;
                 case 2:
                     close_matrix_actions( &nb_sm_f0, NB_SM_BEFORE_AVF0, Task_id[TASKID_AVF0],
                                           ring_node_for_averaging_sm_f0, current_ring_node_sm_f0, time_1 | syncBit1);
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                     spectral_matrix_regs->status = 0x02;   // [0010]
                     break;
                 }
             }
             void spectral_matrices_isr_f1( void )
             {
                 unsigned char status;
                 unsigned long long int time;
                 unsigned long long int syncBit;
                 status = (spectral_matrix_regs->status & 0x0c) >> 2;   // [1100] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0xc0;   // [1100]
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     time = get_acquisition_time( (unsigned char *) &spectral_matrix_regs->f1_0_coarse_time );
                     syncBit = ( (unsigned long long int) (spectral_matrix_regs->f1_0_coarse_time & 0x80000000) ) << 16;
                     close_matrix_actions( &nb_sm_f1, NB_SM_BEFORE_AVF1, Task_id[TASKID_AVF1],
                                           ring_node_for_averaging_sm_f1, current_ring_node_sm_f1, time | syncBit);
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_0_address = current_ring_node_sm_f1->buffer_address;
                     spectral_matrix_regs->status = 0x04;   // [0100]
                     break;
                 case 2:
                     time = get_acquisition_time( (unsigned char *) &spectral_matrix_regs->f1_1_coarse_time );
                     syncBit = ( (unsigned long long int) (spectral_matrix_regs->f1_1_coarse_time & 0x80000000) ) << 16;
                     close_matrix_actions( &nb_sm_f1, NB_SM_BEFORE_AVF1, Task_id[TASKID_AVF1],
                                           ring_node_for_averaging_sm_f1, current_ring_node_sm_f1, time | syncBit);
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_1_address = current_ring_node_sm_f1->buffer_address;
                     spectral_matrix_regs->status = 0x08;   // [1000]
                     break;
                 }
             }
             void spectral_matrices_isr_f2( void )
             {
                 unsigned char status;
                 status = (spectral_matrix_regs->status & 0x30) >> 4;   // [0011 0000] get the status_ready_matrix_f0_x bits
                 ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2;
                 current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0x30;   // [0011 0000]
                     rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     ring_node_for_averaging_sm_f2->coarseTime = spectral_matrix_regs->f2_0_coarse_time;
                     ring_node_for_averaging_sm_f2->fineTime = spectral_matrix_regs->f2_0_fine_time;
                     spectral_matrix_regs->f2_0_address = current_ring_node_sm_f2->buffer_address;
                     spectral_matrix_regs->status = 0x10;   // [0001 0000]
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 case 2:
                     ring_node_for_averaging_sm_f2->coarseTime = spectral_matrix_regs->f2_1_coarse_time;
                     ring_node_for_averaging_sm_f2->fineTime = spectral_matrix_regs->f2_1_fine_time;
                     spectral_matrix_regs->f2_1_address = current_ring_node_sm_f2->buffer_address;
                     spectral_matrix_regs->status = 0x20;   // [0010 0000]
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 }
             }
             void spectral_matrix_isr_error_handler( void )
             {
-                if (spectral_matrix_regs->status & 0x7c0)    // [0111 1100 0000]
+            //    if (spectral_matrix_regs->status & 0x7c0)    // [0111 1100 0000]
+            //    {
-                    rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
+            //        rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
+            //    }
+                spectral_matrix_regs->status = spectral_matrix_regs->status & 0x83f;
             }
             rtems_isr spectral_matrices_isr( rtems_vector_number vector )
             {
                 // STATUS REGISTER
                 // input_fifo_write(2) *** input_fifo_write(1) *** input_fifo_write(0)
                 //           10                    9                       8
                 // buffer_full ** bad_component_err ** f2_1 ** f2_0 ** f1_1 ** f1_0 ** f0_1 ** f0_0
                 //      7                  6             5       4       3       2       1       0
                 spectral_matrices_isr_f0();
                 spectral_matrices_isr_f1();
                 spectral_matrices_isr_f2();
             //    spectral_matrix_isr_error_handler();
             }
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
             {
                 //***
                 // F0
                 nb_sm_f0 = nb_sm_f0 + 1;
                 if (nb_sm_f0 == NB_SM_BEFORE_AVF0 )
                 {
                     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;
                 }
                 //***
                 // F1
                 nb_sm_f0_aux_f1 = nb_sm_f0_aux_f1 + 1;
                 if (nb_sm_f0_aux_f1 == 6)
                 {
                     nb_sm_f0_aux_f1 = 0;
                     nb_sm_f1 = nb_sm_f1 + 1;
                 }
                 if (nb_sm_f1 == NB_SM_BEFORE_AVF1 )
                 {
                     ring_node_for_averaging_sm_f1 = current_ring_node_sm_f1;
                     if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm_f1 = 0;
                 }
                 //***
                 // F2
                 nb_sm_f0_aux_f2 = nb_sm_f0_aux_f2 + 1;
                 if (nb_sm_f0_aux_f2 == 96)
                 {
                     nb_sm_f0_aux_f2 = 0;
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2;
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                 }
             }
             //******************
             // Spectral Matrices
             void reset_nb_sm( void )
             {
                 nb_sm_f0 = 0;
                 nb_sm_f0_aux_f1 = 0;
                 nb_sm_f0_aux_f2 = 0;
                 nb_sm_f1 = 0;
             }
             void SM_init_rings( void )
             {
                 unsigned char i;
                 // F0 RING
                 sm_ring_f0[0].next            = (ring_node_sm*) &sm_ring_f0[1];
                 sm_ring_f0[0].previous        = (ring_node_sm*) &sm_ring_f0[NB_RING_NODES_SM_F0-1];
                 sm_ring_f0[0].buffer_address  =
                         (int) &sm_f0[ 0 ];
                 sm_ring_f0[NB_RING_NODES_SM_F0-1].next           = (ring_node_sm*) &sm_ring_f0[0];
                 sm_ring_f0[NB_RING_NODES_SM_F0-1].previous       = (ring_node_sm*) &sm_ring_f0[NB_RING_NODES_SM_F0-2];
                 sm_ring_f0[NB_RING_NODES_SM_F0-1].buffer_address =
                         (int) &sm_f0[ (NB_RING_NODES_SM_F0-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_SM_F0-1; i++)
                 {
                     sm_ring_f0[i].next            = (ring_node_sm*) &sm_ring_f0[i+1];
                     sm_ring_f0[i].previous        = (ring_node_sm*) &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*) &sm_ring_f1[1];
                 sm_ring_f1[0].previous        = (ring_node_sm*) &sm_ring_f1[NB_RING_NODES_SM_F1-1];
                 sm_ring_f1[0].buffer_address  =
                         (int) &sm_f1[ 0 ];
                 sm_ring_f1[NB_RING_NODES_SM_F1-1].next           = (ring_node_sm*) &sm_ring_f1[0];
                 sm_ring_f1[NB_RING_NODES_SM_F1-1].previous       = (ring_node_sm*) &sm_ring_f1[NB_RING_NODES_SM_F1-2];
                 sm_ring_f1[NB_RING_NODES_SM_F1-1].buffer_address =
                         (int) &sm_f1[ (NB_RING_NODES_SM_F1-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_SM_F1-1; i++)
                 {
                     sm_ring_f1[i].next            = (ring_node_sm*) &sm_ring_f1[i+1];
                     sm_ring_f1[i].previous        = (ring_node_sm*) &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*) &sm_ring_f2[1];
                 sm_ring_f2[0].previous        = (ring_node_sm*) &sm_ring_f2[NB_RING_NODES_SM_F2-1];
                 sm_ring_f2[0].buffer_address  =
                         (int) &sm_f2[ 0 ];
                 sm_ring_f2[NB_RING_NODES_SM_F2-1].next           = (ring_node_sm*) &sm_ring_f2[0];
                 sm_ring_f2[NB_RING_NODES_SM_F2-1].previous       = (ring_node_sm*) &sm_ring_f2[NB_RING_NODES_SM_F2-2];
                 sm_ring_f2[NB_RING_NODES_SM_F2-1].buffer_address =
                         (int) &sm_f2[ (NB_RING_NODES_SM_F2-1) * TOTAL_SIZE_SM ];
                 for(i=1; i<NB_RING_NODES_SM_F2-1; i++)
                 {
                     sm_ring_f2[i].next            = (ring_node_sm*) &sm_ring_f2[i+1];
                     sm_ring_f2[i].previous        = (ring_node_sm*) &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->f0_0_address = sm_ring_f0[0].buffer_address;
                 DEBUG_PRINTF1("spectral_matrix_regs->matrixF0_Address0 @%x\n", spectral_matrix_regs->f0_0_address)
             }
             void SM_generic_init_ring( ring_node_sm *ring, unsigned char nbNodes, volatile int sm_f[] )
             {
                 unsigned char i;
                 //***************
                 // BUFFER ADDRESS
                 for(i=0; i<nbNodes; i++)
                 {
                     ring[ i ].buffer_address = (int) &sm_f[ i * TOTAL_SIZE_SM ];
                 }
                 //*****
                 // NEXT
                 ring[ nbNodes - 1 ].next = (ring_node_sm*) &ring[ 0 ];
                 for(i=0; i<nbNodes-1; i++)
                 {
                     ring[ i ].next = (ring_node_sm*) &ring[ i + 1 ];
                 }
                 //*********
                 // PREVIOUS
                 ring[ 0 ].previous = (ring_node_sm*) &ring[ nbNodes -1 ];
                 for(i=1; i<nbNodes; i++)
                 {
                     ring[ i ].previous = (ring_node_sm*) &ring[ i - 1 ];
                 }
             }
             void ASM_generic_init_ring( ring_node_asm *ring, unsigned char nbNodes )
             {
                 unsigned char i;
                 ring[ nbNodes - 1 ].next
                         = (ring_node_asm*) &ring[ 0 ];
                 for(i=0; i<nbNodes-1; i++)
                 {
                     ring[ i ].next            = (ring_node_asm*) &ring[ i + 1 ];
                 }
             }
             void SM_reset_current_ring_nodes( void )
             {
                 current_ring_node_sm_f0 = sm_ring_f0[0].next;
                 current_ring_node_sm_f1 = sm_ring_f1[0].next;
                 current_ring_node_sm_f2 = sm_ring_f2[0].next;
                 ring_node_for_averaging_sm_f0 = sm_ring_f0;
                 ring_node_for_averaging_sm_f1 = sm_ring_f1;
                 ring_node_for_averaging_sm_f2 = sm_ring_f2;
             }
             void ASM_init_header( 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) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_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 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;  // 2 packets will be sent
                         spw_ioctl_send->data = &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0) ) * NB_VALUES_PER_SM ) * 2
                                 ];
                         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:
                         spw_ioctl_send->dlen = TOTAL_SIZE_ASM_F1_IN_BYTES / 2;  // 2 packets will be sent
                         spw_ioctl_send->data = &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1) ) * NB_VALUES_PER_SM ) * 2
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1);        // BLK_NR LSB
                         break;
                     case SID_NORM_ASM_F2:
                         spw_ioctl_send->dlen = TOTAL_SIZE_ASM_F2_IN_BYTES / 2;  // 2 packets will be sent
                         spw_ioctl_send->data = &spectral_matrix[
                                 ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM ) * 2
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F2);        // BLK_NR LSB
                         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
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 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] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status =  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);
                     }
                 }
             }
             //*****************
             // Basic Parameters
             void BP_init_header( Header_TM_LFR_SCIENCE_BP_t *header,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength, unsigned char blkNr )
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (apid >> 8);
                 header->packetID[1] = (unsigned char) (apid);
                 header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = (unsigned char) (packetLength >> 8);
                 header->packetLength[1] = (unsigned char) (packetLength);
                 // 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 = sid;
                 header->biaStatusInfo = 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_bp_blk_nr[0] = 0x00;  // BLK_NR MSB
                 header->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_init_header_with_spare(Header_TM_LFR_SCIENCE_BP_with_spare_t *header,
                                             unsigned int apid, unsigned char sid,
                                             unsigned int packetLength , unsigned char blkNr)
             {
                 header->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 header->reserved = 0x00;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (apid >> 8);
                 header->packetID[1] = (unsigned char) (apid);
                 header->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1] = 0x00;
                 header->packetLength[0] = (unsigned char) (packetLength >> 8);
                 header->packetLength[1] = (unsigned char) (packetLength);
                 // 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 = sid;
                 header->biaStatusInfo = 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->source_data_spare = 0x00;
                 header->pa_lfr_bp_blk_nr[0] = 0x00;  // BLK_NR MSB
                 header->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_send(char *data, rtems_id queue_id, unsigned int nbBytesToSend, unsigned int sid )
             {
                 rtems_status_code status;
                 // SET THE SEQUENCE_CNT PARAMETER
                 increment_seq_counter_source_id( (unsigned char*) &data[ PACKET_POS_SEQUENCE_CNT ], sid );
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, data, nbBytesToSend);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     printf("ERR *** in BP_send *** ERR %d\n", (int) status);
                 }
             }
             //******************
             // general functions
             void reset_spectral_matrix_regs( void )
             {
                 /** This function resets the spectral matrices module registers.
                  *
                  * The registers affected by this function are located at the following offset addresses:
                  *
                  * - 0x00 config
                  * - 0x04 status
                  * - 0x08 matrixF0_Address0
                  * - 0x10 matrixFO_Address1
                  * - 0x14 matrixF1_Address
                  * - 0x18 matrixF2_Address
                  *
                  */
                 spectral_matrix_regs->config = 0x00;
                 spectral_matrix_regs->status = 0x00;
                 spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->previous->buffer_address;
                 spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                 spectral_matrix_regs->f1_0_address = current_ring_node_sm_f1->previous->buffer_address;
                 spectral_matrix_regs->f1_1_address = current_ring_node_sm_f1->buffer_address;
                 spectral_matrix_regs->f2_0_address = current_ring_node_sm_f2->previous->buffer_address;
                 spectral_matrix_regs->f2_1_address = current_ring_node_sm_f2->buffer_address;
             }
             void set_time( unsigned char *time, unsigned char * timeInBuffer )
             {
                 time[0] = timeInBuffer[0];
                 time[1] = timeInBuffer[1];
                 time[2] = timeInBuffer[2];
                 time[3] = timeInBuffer[3];
                 time[4] = timeInBuffer[6];
                 time[5] = timeInBuffer[7];
             }
             unsigned long long int get_acquisition_time( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTimeAslong;
                 acquisitionTimeAslong = 0x00;
                 acquisitionTimeAslong = ( (unsigned long long int) (timePtr[0] & 0x7f) << 40 ) // [0111 1111] mask the synchronization bit
                         + ( (unsigned long long int) timePtr[1] << 32 )
                         + ( (unsigned long long int) timePtr[2] << 24 )
                         + ( (unsigned long long int) timePtr[3] << 16 )
                         + ( (unsigned long long int) timePtr[6] << 8  )
                         + ( (unsigned long long int) timePtr[7]       );
                 return acquisitionTimeAslong;
             }
             void close_matrix_actions(unsigned int *nb_sm, unsigned int nb_sm_before_avf, rtems_id task_id,
                                        ring_node_sm *node_for_averaging, ring_node_sm *ringNode,
                                        unsigned long long int time )
             {
                 unsigned char *timePtr;
                 unsigned char *coarseTimePtr;
                 unsigned char *fineTimePtr;
                 timePtr = (unsigned char *) &time;
                 coarseTimePtr = (unsigned char *) &node_for_averaging->coarseTime;
                 fineTimePtr = (unsigned char *) &node_for_averaging->fineTime;
                 *nb_sm = *nb_sm + 1;
                 if (*nb_sm == nb_sm_before_avf)
                 {
                     node_for_averaging = ringNode;
                     coarseTimePtr[0] = timePtr[2];
                     coarseTimePtr[1] = timePtr[3];
                     coarseTimePtr[2] = timePtr[4];
                     coarseTimePtr[3] = timePtr[5];
                     fineTimePtr[2] = timePtr[6];
                     fineTimePtr[3] = timePtr[7];
                     if (rtems_event_send( task_id, RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     *nb_sm = 0;
                 }
             }
             unsigned char getSID( rtems_event_set event )
             {
                 unsigned char sid;
                 rtems_event_set eventSetBURST;
                 rtems_event_set eventSetSBM;
                 //******
                 // BURST
                 eventSetBURST = RTEMS_EVENT_BURST_BP1_F0
                         | RTEMS_EVENT_BURST_BP1_F1
                         | RTEMS_EVENT_BURST_BP2_F0
                         | RTEMS_EVENT_BURST_BP2_F1;
                 //****
                 // SBM
                 eventSetSBM = RTEMS_EVENT_SBM_BP1_F0
                         | RTEMS_EVENT_SBM_BP1_F1
                         | RTEMS_EVENT_SBM_BP2_F0
                         | RTEMS_EVENT_SBM_BP2_F1;
                 if (event & eventSetBURST)
                 {
                     sid = SID_BURST_BP1_F0;
                 }
                 else if (event & eventSetSBM)
                 {
                     sid = SID_SBM1_BP1_F0;
                 }
                 else
                 {
                     sid = 0;
                 }
                 return sid;
             }

src/tc_handler.c +57 -3

             /** 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 );
                                 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 )
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 unsigned int *transitionCoarseTime_ptr;
                 unsigned int transitionCoarseTime;
                 unsigned char * bytePosPtr;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 requestedMode = bytePosPtr[ BYTE_POS_CP_MODE_LFR_SET ];
                 transitionCoarseTime_ptr = (unsigned int *) ( &bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME ] );
                 transitionCoarseTime = (*transitionCoarseTime_ptr) & 0x7fffffff;
                 status = check_mode_value( requestedMode );
                 if ( status != LFR_SUCCESSFUL )     // the mode value is inconsistent
                 {
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_MODE_LFR_SET, requestedMode );
                 }
                 else                                // the mode value is consistent, check the transition
                 {
                     status = check_mode_transition(requestedMode);
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_mode_transition\n")
                         send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the transition is valid, enter the mode
                 {
                     status = check_transition_date( transitionCoarseTime );
                     if (status != LFR_SUCCESSFUL)
                     {
                         PRINTF("ERR *** in action_enter_mode *** check_transition_date\n")
                         send_tm_lfr_tc_exe_inconsistent( TC, queue_id,
                                                          BYTE_POS_CP_LFR_ENTER_MODE_TIME,
                                                          bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME + 3 ] );
                     }
                 }
                 if ( status == LFR_SUCCESSFUL )     // the date is valid, enter the mode
                 {
                     PRINTF1("OK  *** in action_enter_mode *** enter mode %d\n", requestedMode);
                     status = enter_mode( requestedMode, transitionCoarseTime );
                 }
                 return status;
             }
             int action_update_info(ccsdsTelecommandPacket_t *TC, rtems_id queue_id)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR directive status code:
                  * - LFR_DEFAULT
                  * - LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 int result;
                 unsigned int status;
                 unsigned char mode;
                 unsigned char * bytePosPtr;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 // check LFR mode
                 mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET5 ] & 0x1e) >> 1;
                 status = check_update_info_hk_lfr_mode( mode );
                 if (status == LFR_SUCCESSFUL)  // check TDS mode
                 {
                     mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & 0xf0) >> 4;
                     status = check_update_info_hk_tds_mode( mode );
                 }
                 if (status == LFR_SUCCESSFUL)  // check THR mode
                 {
                     mode = (bytePosPtr[ BYTE_POS_UPDATE_INFO_PARAMETERS_SET6 ] & 0x0f);
                     status = check_update_info_hk_thr_mode( mode );
                 }
                 if (status == LFR_SUCCESSFUL)  // if the parameter check is successful
                 {
                     val = housekeeping_packet.hk_lfr_update_info_tc_cnt[0] * 256
                             + housekeeping_packet.hk_lfr_update_info_tc_cnt[1];
                     val++;
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[0] = (unsigned char) (val >> 8);
                     housekeeping_packet.hk_lfr_update_info_tc_cnt[1] = (unsigned char) (val);
                 }
                 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];
                 PRINTF1("time received: %x\n", time_management_regs->coarse_time_load)
                 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;    // force tick
                 return LFR_SUCCESSFUL;
             }
             //*******************
             // ENTERING THE MODES
             int check_mode_value( unsigned char requestedMode )
             {
                 int status;
                 if ( (requestedMode != LFR_MODE_STANDBY)
                      && (requestedMode != LFR_MODE_NORMAL) && (requestedMode != LFR_MODE_BURST)
                      && (requestedMode != LFR_MODE_SBM1) && (requestedMode != LFR_MODE_SBM2) )
                 {
                     status = LFR_DEFAULT;
                 }
                 else
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 return status;
             }
             int check_mode_transition( unsigned char requestedMode )
             {
                 /** This function checks the validity of the transition requested by the TC_LFR_ENTER_MODE.
                  *
                  * @param requestedMode is the mode requested by the TC_LFR_ENTER_MODE
                  *
                  * @return LFR directive status codes:
                  * - LFR_SUCCESSFUL - the transition is authorized
                  * - LFR_DEFAULT - the transition is not authorized
                  *
                  */
                 int status;
                 switch (requestedMode)
                 {
                 case LFR_MODE_STANDBY:
                     if ( lfrCurrentMode == LFR_MODE_STANDBY ) {
                         status = LFR_DEFAULT;
                     }
                     else
                     {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_NORMAL:
                     if ( lfrCurrentMode == LFR_MODE_NORMAL ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_BURST:
                     if ( lfrCurrentMode == LFR_MODE_BURST ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM1:
                     if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 case LFR_MODE_SBM2:
                     if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                         status = LFR_DEFAULT;
                     }
                     else {
                         status = LFR_SUCCESSFUL;
                     }
                     break;
                 default:
                     status = LFR_DEFAULT;
                     break;
                 }
                 return status;
             }
             int check_transition_date( unsigned int transitionCoarseTime )
             {
                 int status;
                 unsigned int localCoarseTime;
                 unsigned int deltaCoarseTime;
                 status = LFR_SUCCESSFUL;
                 if (transitionCoarseTime == 0)  // transition time = 0 means an instant transition
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     localCoarseTime = time_management_regs->coarse_time & 0x7fffffff;
                     if ( transitionCoarseTime <= localCoarseTime )   // SSS-CP-EQS-322
                     {
                         status = LFR_DEFAULT;
                         PRINTF2("ERR *** in check_transition_date *** transition = %x, local = %x\n", transitionCoarseTime, localCoarseTime)
                     }
                     if (status == LFR_SUCCESSFUL)
                     {
                         deltaCoarseTime = transitionCoarseTime - localCoarseTime;
                         if ( deltaCoarseTime > 3 )                  // SSS-CP-EQS-323
                         {
                             status = LFR_DEFAULT;
                             PRINTF1("ERR *** in check_transition_date *** deltaCoarseTime = %x\n", deltaCoarseTime)
                         }
                     }
                 }
                 return status;
             }
             int 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 waveform picker registers
                 reset_wfp_burst_enable();                       // reset burst and enable bits
                 reset_wfp_status();                             // reset all the status bits
                 // (4) reset spectral matrices registers
                 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, unsigned int transitionCoarseTime )
             {
                 /** 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;
                 //**********************
                 // STOP THE CURRENT MODE
                 status = stop_current_mode();
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode *** stop_current_mode with mode = %d\n", mode)
                 }
                 //*************************
                 // ENTER THE REQUESTED MODE
                 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( mode );
+                    //****************
+                    // WAVEFORM PICKER
                     launch_waveform_picker( mode, transitionCoarseTime );
-                    launch_spectral_matrix( );
+            //        launch_waveform_picker_spool( mode, transitionCoarseTime );
+                    //******************
+                    // SPECTRAL MATRICES
+            //        launch_spectral_matrix( );
             //        launch_spectral_matrix_simu( );
+                    launch_spectral_matrix_spool( );
                 }
                 else if ( mode == LFR_MODE_STANDBY )
                 {
             #ifdef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_report();
             #endif
             #ifdef PRINT_STACK_REPORT
                     PRINTF("stack report selected\n")
                     rtems_stack_checker_report_usage();
             #endif
                     PRINTF1("maxCount = %d\n", maxCount)
                 }
                 else
                 {
                     status = RTEMS_UNSATISFIED;
                 }
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in enter_mode *** status = %d\n", status)
                     status = RTEMS_UNSATISFIED;
                 }
                 return status;
             }
             int restart_science_tasks(unsigned char lfrRequestedMode )
             {
                 /** This function is used to restart all science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_INCORRECT_STATE - task never started
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot restart remote task
                  *
                  * Science tasks are AVF0, PRC0, WFRM, CWF3, CW2, CWF1
                  *
                  */
-                rtems_status_code status[10];
+                rtems_status_code status[11];
                 rtems_status_code ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[0])
                 }
                 status[1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[1])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** WFRM ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF2 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF1 ERR %d\n", status[5])
                 }
                 status[6] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode );
                 if (status[6] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[6])
                 }
                 status[7] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode );
                 if (status[7] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[7])
                 }
                 status[8] = rtems_task_restart( Task_id[TASKID_AVF2], 1 );
                 if (status[8] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[8])
                 }
                 status[9] = rtems_task_restart( Task_id[TASKID_PRC2], 1 );
                 if (status[9] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[9])
                 }
+                status[10] = rtems_task_restart( Task_id[TASKID_SPOO], 1 );
+                if (status[10] != RTEMS_SUCCESSFUL)
+                {
+                    PRINTF1("in restart_science_task *** SPOO ERR %d\n", status[10])
+                }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) ||
                      (status[2] != RTEMS_SUCCESSFUL) || (status[3] != RTEMS_SUCCESSFUL) ||
                      (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) ||
                      (status[6] != RTEMS_SUCCESSFUL) || (status[7] != RTEMS_SUCCESSFUL) ||
-                     (status[8] != RTEMS_SUCCESSFUL) || (status[9] != RTEMS_SUCCESSFUL) )
+                     (status[8] != RTEMS_SUCCESSFUL) || (status[9] != RTEMS_SUCCESSFUL) ||
+                     (status[10]!= 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] );    // suspend AVF0
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC0] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF1] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC1] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF2] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status)
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC2] );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in suspend_science_task *** PRC2 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)
                     }
                 }
+                if (status == RTEMS_SUCCESSFUL)        // suspend SPOO
+                {
+                    status = rtems_task_suspend( Task_id[TASKID_SPOO] );
+                    if (status != RTEMS_SUCCESSFUL)
+                    {
+                        PRINTF1("in suspend_science_task *** SPOO ERR %d\n", status)
+                    }
+                }
                 return status;
             }
+            void launch_waveform_picker_spool( unsigned char mode, unsigned int transitionCoarseTime )
+            {
+                WFP_reset_current_ring_nodes();
+                reset_waveform_picker_regs();
+                set_wfp_burst_enable_register( mode );
+                waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000]
+                if (transitionCoarseTime == 0)
+                {
+                    waveform_picker_regs->start_date = time_management_regs->coarse_time;
+                }
+                else
+                {
+                    waveform_picker_regs->start_date = transitionCoarseTime;
+                }
+            }
             void launch_waveform_picker( unsigned char mode, unsigned int transitionCoarseTime )
             {
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register( mode );
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable | 0x80; // [1000 0000]
                 if (transitionCoarseTime == 0)
                 {
                     waveform_picker_regs->start_date = time_management_regs->coarse_time;
                 }
                 else
                 {
                     waveform_picker_regs->start_date = transitionCoarseTime;
                 }
             }
+            void launch_spectral_matrix_spool( void )
+            {
+                SM_reset_current_ring_nodes();
+                reset_spectral_matrix_regs();
+                reset_nb_sm();
+                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 | 0x01; // [0000 0001], 0 = output disabled, 1 = output enabled
+                grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xfffffffe; // set the bit 0 to 0
+                set_irq_on_new_ready_matrix( 0 );
+                set_run_matrix_spectral( 1 );
+            }
             void launch_spectral_matrix( void )
             {
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 reset_nb_sm();
                 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 | 0x01; // [0000 0001], 0 = output disabled, 1 = output enabled
                 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xfffffffe; // set the bit 0 to 0
                 set_irq_on_new_ready_matrix( 1 );
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
                 set_run_matrix_spectral( 1 );
             }
             void launch_spectral_matrix_simu( void )
             {
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 reset_nb_sm();
                 // 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 );
             }
             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
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffb;  // [1011] set run_matrix spectral to 0
                 }
             }
             //****************
             // CLOSING ACTIONS
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a successful TC execution.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
                 val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a TC rejection.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC rejection
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
                 val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
             {
                 /** This function is the last step of the TC execution workflow.
                  *
                  * @param TC points to the TC being processed
                  * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
                  * @param queue_id is the id of the RTEMS message queue used to send TM packets
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned char requestedMode;
                 if (result == LFR_SUCCESSFUL)
                 {
                     if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                          &
                          !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
                          )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
                     if ( (TC->serviceType == TC_TYPE_GEN) & (TC->serviceSubType == TC_SUBTYPE_ENTER) )
                     {
                         //**********************************
                         // UPDATE THE LFRMODE LOCAL VARIABLE
                         requestedMode = TC->dataAndCRC[1];
                         housekeeping_packet.lfr_status_word[0] = (unsigned char) ((requestedMode << 4) + 0x0d);
                         updateLFRCurrentMode();
                     }
                 }
                 else if (result == LFR_EXE_ERROR)
                 {
                     send_tm_lfr_tc_exe_error( TC, queue_id );
                 }
             }
             //***************************
             // Interrupt Service Routines
             rtems_isr commutation_isr1( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr1 *** Error sending event to DUMB\n");
                 }
             }
             rtems_isr commutation_isr2( rtems_vector_number vector )
             {
                 if (rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                     printf("In commutation_isr2 *** Error sending event to DUMB\n");
                 }
             }
             //****************
             // OTHER FUNCTIONS
             void updateLFRCurrentMode()
             {
                 /** 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/wf_handler.c +147 0

             /** 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 waveform_ring_f3[NB_RING_NODES_F3];
             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;
             ring_node *current_ring_node_f3;
             ring_node *ring_node_to_send_cwf_f3;
             bool extractSWF = false;
             bool swf_f0_ready = false;
             bool swf_f1_ready = false;
             bool swf_f2_ready = false;
+            bool wake_up_task_wfrm = false;
+            bool wake_up_task_cwf_f1 = false;
+            bool wake_up_task_cwf_f2_burst = false;
+            bool wake_up_task_cwf_f2_sbm2 = false;
+            bool wake_up_task_cwf_f3 = 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;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_BURST)  // in BURST the data are used to place v, e1 and e2 in the HK packet
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
                         // (1) change the receiving buffer for the waveform picker
                         ring_node_to_send_cwf_f3 = current_ring_node_f3;
                         current_ring_node_f3 = current_ring_node_f3->next;
                         waveform_picker_regs->addr_data_f3 = current_ring_node_f3->buffer_address;
                         // (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 );
                         }
                         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 (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]
                     }
                     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
                         // (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 (and snapshot extraction if needed)
                         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 ( (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
                         // (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
                     }
                     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_isr waveforms_isr_alt( 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_interrupt_level level;
+                rtems_interrupt_disable( level );
+                if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_BURST)  // in BURST the data are used to place v, e1 and e2 in the HK packet
+                     || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
+                { // in modes other than STANDBY and BURST, send the CWF_F3 data
+                    if ((waveform_picker_regs->status & 0x08) == 0x08){     // [1000] f3 is full
+                        // (1) change the receiving buffer for the waveform picker
+                        ring_node_to_send_cwf_f3 = current_ring_node_f3;
+                        current_ring_node_f3 = current_ring_node_f3->next;
+                        waveform_picker_regs->addr_data_f3 = current_ring_node_f3->buffer_address;
+                        // (2) send an event for the waveforms transmission
+                        wake_up_task_cwf_f3 = true;
+                        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;
+                        //
+                        wake_up_task_wfrm = true;
+                        waveform_picker_regs->status = waveform_picker_regs->status & 0xfffff888; // [1000 1000 1000]
+                    }
+                    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
+                        wake_up_task_cwf_f2_burst = true;
+                        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
+                        // (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 (and snapshot extraction if needed)
+                        wake_up_task_cwf_f1 = true;
+                        waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffddd; // [1111 1101 1101 1101] f1 bits = 0
+                    }
+                    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
+                        // (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
+                        wake_up_task_cwf_f2_sbm2 = true;
+                        waveform_picker_regs->status = waveform_picker_regs->status & 0xfffffbbb; // [1111 1011 1011 1011] f2 bit = 0
+                    }
+                    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_interrupt_enable( level );
+            }
             //************
             // 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 );
                 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 ( (lfrCurrentMode == LFR_MODE_NORMAL)
                          || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode==LFR_MODE_SBM2) )
                     {
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             PRINTF("send CWF_LONG_F3\n")
                             send_waveform_CWF(
                                         (volatile int*) ring_node_to_send_cwf_f3->buffer_address,
                                         SID_NORM_CWF_LONG_F3, headerCWF_F3, queue_id );
                         }
                         else
                         {
                             PRINTF("send CWF_F3 (light)\n")
                             send_waveform_CWF3_light(
                                         (volatile int*) ring_node_to_send_cwf_f3->buffer_address,
                                         headerCWF_F3_light, queue_id );
                         }
                     }
                     else
                     {
                         PRINTF1("in CWF3 *** lfrCurrentMode is %d, no data will be sent\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_BURST_CWF_F2
                  * - TM_LFR_SCIENCE_SBM2_CWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 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 );
                         // launch snapshot extraction if needed
                         if (extractSWF == true)
                         {
                             ring_node_to_send_swf_f2 = ring_node_to_send_cwf_f2;
                             // extract the snapshot
                             build_snapshot_from_ring( ring_node_to_send_swf_f2, 2 );
                             // send the snapshot when built
                             status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 );
                             extractSWF = false;
                         }
                         if (swf_f0_ready && swf_f1_ready)
                         {
                             extractSWF = true;
                             swf_f0_ready = false;
                             swf_f1_ready = false;
                         }
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_SBM1_CWF_F1
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
+                rtems_interrupt_level level = 0;
                 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")
+                printf("(0) level = %x\n", (unsigned int) level);
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
+                    rtems_interrupt_disable( level );
+                    printf("(1) level = %x\n", (unsigned int) level);
                     send_waveform_CWF( (volatile int*) ring_node_to_send_cwf_f1->buffer_address, SID_SBM1_CWF_F1, headerCWF_F1, queue_id );
                     // launch snapshot extraction if needed
                     if (extractSWF == true)
                     {
                         ring_node_to_send_swf_f1 = ring_node_to_send_cwf_f1;
                         // launch the snapshot extraction
                         status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM1 );
                         extractSWF = false;
                     }
                     if (swf_f0_ready == true)
                     {
                         extractSWF = true;
                         swf_f0_ready = false;   // this step shall be executed only one time
                     }
                     if ((swf_f1_ready == true) && (swf_f2_ready == true))   // swf_f1 is ready after the extraction
                     {
                         status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 );
                         swf_f1_ready = false;
                         swf_f2_ready = false;
                     }
+                    rtems_interrupt_enable( level );
+                    printf("(2) level = %x\n", (unsigned int) level);
                 }
             }
             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 );
                         swf_f1_ready = true;    // the snapshot has been extracted and is ready to be sent
                     }
                     else
                     {
                         PRINTF1("in SWBD *** unexpected rtems event received %x\n", (int) event_out)
                     }
                 }
             }
             //******************
             // general functions
             void WFP_init_rings( void )
             {
                 // F0 RING
                 init_waveform_ring( waveform_ring_f0, NB_RING_NODES_F0, wf_snap_f0 );
                 // F1 RING
                 init_waveform_ring( waveform_ring_f1, NB_RING_NODES_F1, wf_snap_f1 );
                 // F2 RING
                 init_waveform_ring( waveform_ring_f2, NB_RING_NODES_F2, wf_snap_f2 );
                 // F3 RING
                 init_waveform_ring( waveform_ring_f3, NB_RING_NODES_F3, wf_cont_f3 );
                 DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                 DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                 DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
                 DEBUG_PRINTF1("waveform_ring_f3 @%x\n", (unsigned int) waveform_ring_f3)
             }
             void init_waveform_ring(ring_node waveform_ring[], unsigned char nbNodes, volatile int wfrm[] )
             {
                 unsigned char i;
                 waveform_ring[0].next            = (ring_node*) &waveform_ring[ 1 ];
                 waveform_ring[0].previous        = (ring_node*) &waveform_ring[ nbNodes - 1 ];
                 waveform_ring[0].buffer_address  = (int) &wfrm[0];
                 waveform_ring[nbNodes-1].next           = (ring_node*) &waveform_ring[ 0 ];
                 waveform_ring[nbNodes-1].previous       = (ring_node*) &waveform_ring[ nbNodes - 2 ];
                 waveform_ring[nbNodes-1].buffer_address = (int) &wfrm[ (nbNodes-1) * WFRM_BUFFER ];
                 for(i=1; i<nbNodes-1; i++)
                 {
                     waveform_ring[i].next            = (ring_node*) &waveform_ring[ i + 1 ];
                     waveform_ring[i].previous        = (ring_node*) &waveform_ring[ i - 1 ];
                     waveform_ring[i].buffer_address  = (int) &wfrm[ i * WFRM_BUFFER ];
                 }
             }
             void WFP_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;
                 current_ring_node_f3        = waveform_ring_f3;
                 ring_node_to_send_cwf_f3    = waveform_ring_f3;
             }
             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) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                     headerSWF[ i ].packetID[1] = (unsigned char) (APID_TM_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) (APID_TM_SCIENCE_SBM1_SBM2 >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         headerCWF[ i ].packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                         headerCWF[ i ].packetID[1] = (unsigned char) (APID_TM_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) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                     headerCWF[ i ].packetID[1] = (unsigned char) (APID_TM_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] = headerSWF[ i ].acquisitionTime[0];
                     headerSWF[ i ].time[1] = headerSWF[ i ].acquisitionTime[1];
                     headerSWF[ i ].time[2] = headerSWF[ i ].acquisitionTime[2];
                     headerSWF[ i ].time[3] = headerSWF[ i ].acquisitionTime[3];
                     headerSWF[ i ].time[4] = headerSWF[ i ].acquisitionTime[4];
                     headerSWF[ i ].time[5] = headerSWF[ i ].acquisitionTime[5];
                     // 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] = headerCWF[ i ].acquisitionTime[0];
                     headerCWF[ i ].time[1] = headerCWF[ i ].acquisitionTime[1];
                     headerCWF[ i ].time[2] = headerCWF[ i ].acquisitionTime[2];
                     headerCWF[ i ].time[3] = headerCWF[ i ].acquisitionTime[3];
                     headerCWF[ i ].time[4] = headerCWF[ i ].acquisitionTime[4];
                     headerCWF[ i ].time[5] = headerCWF[ i ].acquisitionTime[5];
                     // 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] = headerCWF[ i ].acquisitionTime[0];
                     headerCWF[ i ].time[1] = headerCWF[ i ].acquisitionTime[1];
                     headerCWF[ i ].time[2] = headerCWF[ i ].acquisitionTime[2];
                     headerCWF[ i ].time[3] = headerCWF[ i ].acquisitionTime[3];
                     headerCWF[ i ].time[4] = headerCWF[ i ].acquisitionTime[4];
                     headerCWF[ i ].time[5] = headerCWF[ i ].acquisitionTime[5];
                     // 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 >> 24 );
                 localAcquisitionTime[1] = (unsigned char) ( coarseTime >> 16 );
                 localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 8  );
                 localAcquisitionTime[3] = (unsigned char) ( coarseTime       );
                 localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 8  );
                 localAcquisitionTime[5] = (unsigned char) ( fineTime         );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                         + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                         + ( (unsigned long long int) localAcquisitionTime[2] << 24 )
                         + ( (unsigned long long int) localAcquisitionTime[3] << 16 )
                         + ( (unsigned long long int) localAcquisitionTime[4] << 8  )
                         + ( (unsigned long long int) localAcquisitionTime[5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d", 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 *timeCharPtr;
                 unsigned char nb_ring_nodes;
                 unsigned long long int frequency_asLong;
                 unsigned long long int nbTicksPerSample_asLong;
                 unsigned long long int nbSamplesPart1_asLong;
                 unsigned long long int sampleOffset_asLong;
                 unsigned int deltaT_F0;
                 unsigned int deltaT_F1;
                 unsigned long long int deltaT_F2;
                 deltaT_F0 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                 deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                 sampleOffset_asLong = 0x00;
                 // (1) get the f0 acquisition time
                 build_acquisition_time( &acquisitionTimeF0_asLong, current_ring_node_f0 );
                 // (2) compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
                 // (3) compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case 1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = 4096;
                     nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                     break;
                 case 2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;
                     break;
                 }
                 //****************************************************************************
                 // (4) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 for (i=0; i<nb_ring_nodes; i++)
                 {
                     PRINTF1("%d ... ", i)
                     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;
                 }
                 // (5) compute the number of samples to take in the current buffer
                 sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> 16;
                 nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
                 PRINTF2("sampleOffset_asLong = %llx, nbSamplesPart1_asLong = %llx\n", sampleOffset_asLong, nbSamplesPart1_asLong)
                 // (6) compute the final acquisition time
                 acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                         sampleOffset_asLong * nbTicksPerSample_asLong;
                 // (7) copy the acquisition time at the beginning of the extrated snapshot
                 ptr1 = (unsigned char*) &acquisitionTime_asLong;
                 ptr2 = (unsigned char*) wf_snap_extracted;
                 ptr2[0] = ptr1[ 0 + 2 ];
                 ptr2[1] = ptr1[ 1 + 2 ];
                 ptr2[2] = ptr1[ 2 + 2 ];
                 ptr2[3] = ptr1[ 3 + 2 ];
                 ptr2[6] = ptr1[ 4 + 2 ];
                 ptr2[7] = ptr1[ 5 + 2 ];
                 // re set the synchronization bit
                 timeCharPtr = (unsigned char*) ring_node_to_send->buffer_address;
                 ptr2[0] = ptr2[0] | (timeCharPtr[0] & 0x80); // [1000 0000]
                 if ( (nbSamplesPart1_asLong >= NB_SAMPLES_PER_SNAPSHOT) | (nbSamplesPart1_asLong < 0) )
                 {
                     nbSamplesPart1_asLong = 0;
                 }
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     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 = ( (unsigned long long int) (acquisitionTimeCharPtr[0] & 0x7f) << 40 ) // [0111 1111] mask the synchronization bit
                         + ( (unsigned long long int) acquisitionTimeCharPtr[1] << 32 )
                         + ( (unsigned long long int) acquisitionTimeCharPtr[2] << 24 )
                         + ( (unsigned long long int) acquisitionTimeCharPtr[3] << 16 )
                         + ( (unsigned long long int) acquisitionTimeCharPtr[6] << 8  )
                         + ( (unsigned long long int) acquisitionTimeCharPtr[7]       );
             }
             //**************
             // 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
                 *
                 */
                 set_wfp_data_shaping();                                     // 0x00 *** R1 R0 SP1 SP0 BW
                 reset_wfp_burst_enable();                                   // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 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 = current_ring_node_f3->buffer_address; // 0x14
                 reset_wfp_status();                                         // 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
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0c; // [1100] enable f3 AND 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 - 1;    // max 4 bytes
             }
             void set_wfp_delta_f0_f0_2( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f0_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f0_in_float =nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 24576.) * 256.;
                 waveform_picker_regs->delta_f0      =  delta_snapshot - floor( delta_f0_in_float );
                 waveform_picker_regs->delta_f0_2    = 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 increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid )
             {
                 /** This function increments the parameter "sequence_cnt" depending on the sid passed in argument.
                  *
                  * @param packet_sequence_control is a pointer toward the parameter sequence_cnt to update.
                  * @param sid is the source identifier of the packet being updated.
                  *
                  * REQ-LFR-SRS-5240 / SSS-CP-FS-590
                  * The sequence counters shall wrap around from 2^14 to zero.
                  * The sequence counter shall start at zero at startup.
                  *
                  * REQ-LFR-SRS-5239 / SSS-CP-FS-580
                  * All TM_LFR_SCIENCE_ packets are sent to ground, i.e. destination id = 0
                  *
                  */
                 unsigned short *sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 rtems_mode initial_mode_set;
                 rtems_mode current_mode_set;
                 rtems_status_code status;
                 //******************************************
                 // CHANGE THE MODE OF THE CALLING RTEMS TASK
                 status =  rtems_task_mode( RTEMS_NO_PREEMPT, RTEMS_PREEMPT_MASK, &initial_mode_set );
                 if ( (sid == SID_NORM_SWF_F0)    || (sid == SID_NORM_SWF_F1) || (sid == SID_NORM_SWF_F2)
                      || (sid == SID_NORM_CWF_F3) || (sid == SID_NORM_CWF_LONG_F3)
                      || (sid == SID_BURST_CWF_F2)
                      || (sid == SID_NORM_ASM_F0) || (sid == SID_NORM_ASM_F1) || (sid == SID_NORM_ASM_F2)
                      || (sid == SID_NORM_BP1_F0) || (sid == SID_NORM_BP1_F1) || (sid == SID_NORM_BP1_F2)
                      || (sid == SID_NORM_BP2_F0) || (sid == SID_NORM_BP2_F1) || (sid == SID_NORM_BP2_F2)
                      || (sid == SID_BURST_BP1_F0) || (sid == SID_BURST_BP2_F0)
                      || (sid == SID_BURST_BP1_F1) || (sid == SID_BURST_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_NORMAL_BURST;
                 }
                 else if ( (sid ==SID_SBM1_CWF_F1) || (sid ==SID_SBM2_CWF_F2)
                           || (sid == SID_SBM1_BP1_F0) || (sid == SID_SBM1_BP2_F0)
                           || (sid == SID_SBM2_BP1_F0) || (sid == SID_SBM2_BP2_F0)
                           || (sid == SID_SBM2_BP1_F1) || (sid == SID_SBM2_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_SBM1_SBM2;
                 }
                 else
                 {
                     sequence_cnt = (unsigned short *) NULL;
                     PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
                 }
                 if (sequence_cnt != NULL)
                 {
                     segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                     *sequence_cnt                = (*sequence_cnt) & 0x3fff;
                     new_packet_sequence_control = segmentation_grouping_flag | (*sequence_cnt) ;
                     packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                     packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                     // increment the sequence counter
                     if ( *sequence_cnt < SEQ_CNT_MAX)
                     {
                         *sequence_cnt = *sequence_cnt + 1;
                     }
                     else
                     {
                         *sequence_cnt = 0;
                     }
                 }
                 //***********************************
                 // RESET THE MODE OF THE CALLING TASK
                 status =  rtems_task_mode( initial_mode_set, RTEMS_PREEMPT_MASK, &current_mode_set );
             }

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