HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r197:d5570d7e57e2

fifo occupation reported in the HK packet

paul -

r197:d5570d7e57e2 R3

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r197:d5570d7e57e2

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EQM/eqm.pro created 644 +75 0

@@ -0,0 +1,75
	1	TEMPLATE = app
	2	# CONFIG += console v8 sim
	3	# CONFIG options = verbose * boot_messages * debug_messages * cpu_usage_report * stack_report * vhdl_dev * debug_tch
	4	# lpp_dpu_destid
	5	CONFIG += console verbose lpp_dpu_destid cpu_usage_report
	6	CONFIG -= qt
	7
	8	include(./sparc.pri)
	9
	10	# eqm debug software version
	11	SWVERSION=-1-0
	12	DEFINES += SW_VERSION_N1=0 # major
	13	DEFINES += SW_VERSION_N2=0 # minor
	14	DEFINES += SW_VERSION_N3=0 # patch
	15	DEFINES += SW_VERSION_N4=0 # internal
	16
	17	# <GCOV>
	18	#QMAKE_CFLAGS_RELEASE += -fprofile-arcs -ftest-coverage
	19	#LIBS += -lgcov /opt/GCOV/01A/lib/overload.o -lc
	20	# </GCOV>
	21
	22	# <CHANGE BEFORE FLIGHT>
	23	contains( CONFIG, lpp_dpu_destid ) {
	24	DEFINES += LPP_DPU_DESTID
	25	}
	26	# </CHANGE BEFORE FLIGHT>
	27
	28	contains( CONFIG, debug_tch ) {
	29	DEFINES += DEBUG_TCH
	30	}
	31	DEFINES += MSB_FIRST_TCH
	32
	33	contains( CONFIG, vhdl_dev ) {
	34	DEFINES += VHDL_DEV
	35	}
	36
	37	contains( CONFIG, verbose ) {
	38	DEFINES += PRINT_MESSAGES_ON_CONSOLE
	39	}
	40
	41	contains( CONFIG, debug_messages ) {
	42	DEFINES += DEBUG_MESSAGES
	43	}
	44
	45	contains( CONFIG, cpu_usage_report ) {
	46	DEFINES += PRINT_TASK_STATISTICS
	47	}
	48
	49	contains( CONFIG, stack_report ) {
	50	DEFINES += PRINT_STACK_REPORT
	51	}
	52
	53	contains( CONFIG, boot_messages ) {
	54	DEFINES += BOOT_MESSAGES
	55	}
	56
	57	#doxygen.target = doxygen
	58	#doxygen.commands = doxygen ../doc/Doxyfile
	59	#QMAKE_EXTRA_TARGETS += doxygen
	60
	61	TARGET = eqm
	62
	63	INCLUDEPATH += ./header \
	64	../header/lfr_common_headers
	65
	66	SOURCES += \
	67	src/main.c \
	68	src/grspw.c
	69
	70	HEADERS += \
	71	../header/lfr_common_headers/fsw_params.h \
	72	header/grspw.h
	73
	74
	75

EQM/header/grspw.h created 644 +8 0

@@ -0,0 +1,8
	1	#ifndef GRSPW_H_INCLUDED
	2	#define GRSPW_H_INCLUDED
	3
	4	int grspw_set_ie( unsigned char value, unsigned int *ctrlReg );
	5	int grspw_set_tq( unsigned char value, unsigned int *ctrlReg );
	6	int grspw_set_tr( unsigned char value, unsigned int *ctrlReg );
	7
	8	#endif // GRSPW_H_INCLUDED

EQM/sparc.pri created 644 +97 0

@@ -0,0 +1,97
	1	CONFIG += console
	2	CONFIG -= qt
	3	QMAKE_CC=sparc-elf-gcc
	4	message(C compiler forced to: $$QMAKE_CC)
	5	QMAKE_CXX=sparc-elf-g++
	6	message(C++ compiler forced to: $$QMAKE_CXX)
	7	QMAKE_AR=sparc-elf-ar rcs
	8	message(Archiver forced to: $$QMAKE_AR)
	9	QMAKE_LINK=sparc-elf-g++
	10	message(Linker forced to: $$QMAKE_LINK)
	11	QMAKE_LINK_SHLIB=sparc-rtems-g++
	12	QMAKE_OBJCOPY= sparc-elf-objcopy
	13	QMAKE_STRIP=sparc-elf-strip
	14	QMAKE_GDB=sparc-elf-gdb
	15
	16	INCLUDEPATH += /opt/sparc-elf-4.4.2
	17
	18	QMAKE_CFLAGS_DEBUG= -g
	19	QMAKE_CFLAGS_RELEASE=""
	20	QMAKE_CXXFLAGS_DEBUG= -g
	21	QMAKE_CXXFLAGS_RELEASE=""
	22	QMAKE_LFLAGS_RELEASE=""
	23	QMAKE_LFLAGS_DEBUG= -g
	24	QMAKE_CXXFLAGS_DEPS =
	25	QMAKE_CXXFLAGS_WARN_ON = -Wall
	26	QMAKE_CXXFLAGS_WARN_OFF = -w
	27	QMAKE_CXXFLAGS_RELEASE =
	28	QMAKE_CXXFLAGS_DEBUG =
	29	QMAKE_CXXFLAGS_YACC =
	30	QMAKE_CXXFLAGS_THREAD =
	31	QMAKE_CXXFLAGS_RTTI_ON =
	32	QMAKE_CXXFLAGS_RTTI_OFF =
	33	QMAKE_CXXFLAGS_EXCEPTIONS_ON =
	34	QMAKE_CXXFLAGS_EXCEPTIONS_OFF =
	35	QMAKE_CFLAGS_WARN_ON = -Wall
	36	QMAKE_CFLAGS_WARN_OFF = -w
	37	QMAKE_CFLAGS_RELEASE =
	38	QMAKE_CFLAGS_YACC =
	39	QMAKE_LFLAGS_EXCEPTIONS_ON =
	40	QMAKE_LFLAGS_EXCEPTIONS_OFF =
	41	QMAKE_LFLAGS_RELEASE =
	42	QMAKE_LFLAGS_CONSOLE =
	43	QMAKE_LFLAGS_WINDOWS =
	44	QMAKE_LFLAGS_DLL =
	45	QMAKE_INCDIR_QT =
	46	QMAKE_INCDIR =
	47	QMAKE_CFLAGS_SHLIB =
	48	QMAKE_CFLAGS_STATIC_LIB =
	49	QMAKE_CXXFLAGS_SHLIB =
	50	QMAKE_CXXFLAGS_STATIC_LIB =
	51	QMAKE_LIBS=""
	52	INCLUDEPATH=""
	53	DEFINES=""
	54
	55	contains( TEMPLATE, app ) {
	56	OBJECTS_DIR=obj
	57	DESTDIR=bin
	58	}
	59
	60	#QMAKE_CFLAGS_RELEASE += -O0
	61	#QMAKE_CFLAGS_DEBUG += -O0
	62	#QMAKE_CXXFLAGS_RELEASE += -O0
	63	#QMAKE_CXXFLAGS_DEBUG += -O0
	64	QMAKE_CFLAGS_RELEASE += -O3
	65	QMAKE_CFLAGS_DEBUG += -O3
	66	QMAKE_CXXFLAGS_RELEASE += -O3
	67	QMAKE_CXXFLAGS_DEBUG += -O3
	68
	69	#QMAKE_CFLAGS_RELEASE+= -O3 -std=c99
	70	#QMAKE_CFLAGS_DEBUG+= -O3 -std=c99
	71	#QMAKE_CXXFLAGS_RELEASE+= -O3 -std=c99
	72	#QMAKE_CXXFLAGS_DEBUG+= -O3 -std=c99
	73
	74	contains( TEMPLATE, app ) {
	75	grmon.target = grmon
	76	grmon.commands = cd $$DESTDIR && C:/opt/grmon-eval-2.0.29b/win32/bin/grmon.exe -uart COM4 -u
	77	QMAKE_EXTRA_TARGETS += grmon
	78	}
	79
	80
	81
	82
	83
	84
	85
	86
	87
	88
	89
	90
	91
	92
	93
	94
	95
	96
	97

EQM/src/grspw.c created 644 +70 0

@@ -0,0 +1,70
	1	#include "grspw.h"
	2
	3	int grspw_set_ie( unsigned char value, unsigned int *ctrlReg )
	4	{
	5	// IE = bit 3
	6	// Interrupt Enable
	7
	8	int ret = 0;
	9
	10	if (value == 0)
	11	{
	12	ctrlReg = ctrlReg & 0xfffffff7;
	13	}
	14	else if (value == 1)
	15	{
	16	ctrlReg = ctrlReg \| 0x00000008;
	17	}
	18	else
	19	{
	20	ret = -1;
	21	}
	22
	23	return ret;
	24	}
	25
	26	int grspw_set_tq( unsigned char value, unsigned int *ctrlReg )
	27	{
	28	// TQ = bit 8
	29	// Tick-out IRQ
	30
	31	int ret = 0;
	32
	33	if (value == 0)
	34	{
	35	ctrlReg = ctrlReg & 0xfffffeff;
	36	}
	37	else if (value == 1)
	38	{
	39	ctrlReg = ctrlReg \| 0x00000100;
	40	}
	41	else
	42	{
	43	ret = -1;
	44	}
	45
	46	return ret;
	47	}
	48
	49	int grspw_set_tr( unsigned char value, unsigned int *ctrlReg )
	50	{
	51	// TR = bit 11
	52	// Enable timecode reception
	53
	54	int ret = 0;
	55
	56	if (value == 0)
	57	{
	58	ctrlReg = ctrlReg & 0xfffff7ff;
	59	}
	60	else if (value == 1)
	61	{
	62	ctrlReg = ctrlReg \| 0x00000800;
	63	}
	64	else
	65	{
	66	ret = -1;
	67	}
	68
	69	return ret;
	70	}

EQM/src/main.c created 644 +81 0

@@ -0,0 +1,81
	1	#include <stdio.h>
	2
	3	#include "grspw.h"
	4	#include "fsw_params.h"
	5
	6	#define DSU_TIME_TAG_COUNTER 0x90000008
	7
	8	//**********
	9	// IRQ LINES
	10	#define IRQ_GRSPW 11
	11	#define IRQ_SPARC_GRSPW 0x1b // see sparcv8.pdf p.76 for interrupt levels
	12
	13	extern void *catch_interrupt(void func(), int irq);
	14	int lreg = (int ) 0x80000000;
	15
	16	#define ICLEAR 0x20c
	17	#define IMASK 0x240
	18	#define IFORCE 0x208
	19
	20	void enable_irq (int irq)
	21	{
	22	lreg[ICLEAR/4] = (1 << irq); // clear any pending irq
	23	lreg[IMASK/4] \|= (1 << irq); // unmaks irq
	24	}
	25
	26	void disable_irq (int irq) { lreg[IMASK/4] &= ~(1 << irq); } // mask irq
	27
	28	void force_irq (int irq) { lreg[IFORCE/4] = (1 << irq); } // force irq
	29
	30	/* NOTE: NEVER put printf() or other stdio routines in interrupt handlers,
	31	they are not re-entrant. This (bad) example is just a demo */
	32
	33	unsigned char processTimecode = 0;
	34
	35	void irqhandler(int irq)
	36	{
	37	processTimecode = 1;
	38	}
	39
	40	int main( void )
	41	{
	42	unsigned int *grspwCtrlReg;
	43	unsigned int k;
	44	volatile unsigned int *reg;
	45	float aux;
	46	unsigned int counter = 0;
	47
	48	printf("hello world!\n");
	49
	50	grspwCtrlReg = (unsigned int*) REGS_ADDR_GRSPW;
	51	grspw_set_ie( 1, grspwCtrlReg );
	52	grspw_set_tq( 1, grspwCtrlReg );
	53	grspw_set_tr( 1, grspwCtrlReg );
	54
	55	catch_interrupt(irqhandler, IRQ_GRSPW);
	56	enable_irq( IRQ_GRSPW );
	57	force_irq( IRQ_GRSPW );
	58
	59	reg = (volatile unsigned int *) DSU_TIME_TAG_COUNTER;
	60
	61	while(1)
	62	{
	63	if (processTimecode == 1)
	64	{
	65	counter ++;
	66	printf("timecode counter = %d\n", counter);
	67	processTimecode = 0;
	68	}
	69	else
	70	{
	71	printf(".");
	72	}
	73
	74	// for (k=0; k<100000;k++)
	75	// {
	76	// aux = aux + *reg ;
	77	// }
	78	}
	79
	80	return 0;
	81	}

python_scripts/EQM_reload_sw.py created 644 +17 0

@@ -0,0 +1,17
	1	# LOAD FSW USING LINK 1
	2	SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
	3
	4	APB_UART_PLUGIN0.setFifoDebugEnabled( 0 )
	5
	6	dsu3plugin0.openFile("/opt/DEV_PLE/EQM/bin/eqm")
	7	dsu3plugin0.loadFile()
	8
	9	dsu3plugin0.run()
	10
	11	APB_UART_PLUGIN0.setFifoDebugEnabled( 1 )
	12
	13	# START SENDING TIMECODES AT 1 Hz
	14	SpwPlugin0.StarDundeeStartTimecodes( 1 )
	15
	16	# it is possible to change the time code frequency
	17	#RMAPPlugin0.changeTimecodeFrequency(2)

python_scripts/EQM_setup.py created 644 +34 0

@@ -0,0 +1,34
	1	import time
	2
	3	proxy.loadSysDriver("SpwPlugin","SpwPlugin0")
	4	SpwPlugin0.selectBridge("STAR-Dundee Spw USB Brick")
	5
	6	proxy.loadSysDriverToParent("dsu3plugin","SpwPlugin0")
	7	proxy.loadSysDriverToParent("LFRControlPlugin","SpwPlugin0")
	8
	9	proxy.loadSysDriverToParent("APB_UART_PLUGIN","SpwPlugin0")
	10	APB_UART_PLUGIN0.setFifoDebugEnabled( 1 )
	11
	12	availableBrickCount = SpwPlugin0.StarDundeeGetAvailableBrickCount()
	13	print str(availableBrickCount) + " SpaceWire brick(s) found"
	14
	15	SpwPlugin0.StarDundeeSelectBrick(1)
	16	SpwPlugin0.StarDundeeSetBrickAsARouter(1)
	17	SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
	18	SpwPlugin0.connectBridge()
	19
	20	#SpwPlugin0.TCPServerSetIP("127.0.0.1")
	21	SpwPlugin0.TCPServerConnect()
	22
	23	# OPEN SPACEWIRE SERVER
	24	#LFRControlPlugin0.SetSpwServerIP(129,104,27,164)
	25	LFRControlPlugin0.TCPServerConnect()
	26
	27	# OPEN TM ECHO BRIDGE SERVER
	28	LFRControlPlugin0.TMEchoBridgeOpenPort()
	29
	30	# START SENDING TIMECODES AT 1 Hz
	31	SpwPlugin0.StarDundeeStartTimecodes( 1 )
	32
	33	# it is possible to change the time code frequency
	34	#RMAPPlugin0.changeTimecodeFrequency(2)

python_scripts/EQM_setup_and_sw.py created 644 +34 0

@@ -0,0 +1,34
	1	#!/usr/bin/lppmon -e
	2
	3	import time
	4
	5	proxy.loadSysDriver("SpwPlugin","SpwPlugin0")
	6	SpwPlugin0.selectBridge("STAR-Dundee Spw USB Brick")
	7
	8	proxy.loadSysDriverToParent("dsu3plugin","SpwPlugin0")
	9	proxy.loadSysDriverToParent("LFRControlPlugin","SpwPlugin0")
	10
	11	proxy.loadSysDriverToParent("APB_UART_PLUGIN","SpwPlugin0")
	12	APB_UART_PLUGIN0.setFifoDebugEnabled( 0 )
	13
	14	availableBrickCount = SpwPlugin0.StarDundeeGetAvailableBrickCount()
	15	print "availableBrickCount = ", availableBrickCount
	16
	17	SpwPlugin0.StarDundeeSelectBrick(1)
	18	SpwPlugin0.StarDundeeSetBrickAsARouter(1)
	19	SpwPlugin0.connectBridge()
	20
	21	#SpwPlugin0.TCPServerSetIP("127.0.0.1")
	22	SpwPlugin0.TCPServerConnect()
	23
	24	#LFRControlPlugin0.SetSpwServerIP(129,104,27,164)
	25	LFRControlPlugin0.TCPServerConnect()
	26
	27	dsu3plugin0.openFile("/opt/DEV_PLE/EQM/bin/eqm")
	28	dsu3plugin0.loadFile()
	29	dsu3plugin0.run()
	30
	31	APB_UART_PLUGIN0.setFifoDebugEnabled( 1 )
	32
	33	LFRControlPlugin0.TMEchoBridgeOpenPort()
	34

python_scripts/LFRControlPlugin_reload_fsw 2-0-2-3.py created 644 +13 0

@@ -0,0 +1,13
	1	# LOAD FSW USING LINK 1
	2	SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
	3
	4	dsu3plugin0.openFile("/opt/LFR/LFR-FSW/2.0.2.3/fsw")
	5	dsu3plugin0.loadFile()
	6
	7	dsu3plugin0.run()
	8
	9	# START SENDING TIMECODES AT 1 Hz
	10	SpwPlugin0.StarDundeeStartTimecodes( 1 )
	11
	12	# it is possible to change the time code frequency
	13	#RMAPPlugin0.changeTimecodeFrequency(2)

python_scripts/dsu3plugin0_reload_fsw.py created 644 +5 0

@@ -0,0 +1,5
	1	dsu3plugin0.openFile("/opt/DEV_PLE/FSW-qt/bin/fsw")
	2	dsu3plugin0.loadFile()
	3
	4	dsu3plugin0.run()
	5

python_scripts/scrub.py created 644 +83 0

@@ -0,0 +1,83
	1	#from PyQt4 import QtGui
	2	#from PyQt4 import QtCore
	3	#from PyQt4 import Qt
	4	import sys
	5	def elfSize(FileName,section):
	6	bashCommand = "/usr/bin/size "+ FileName
	7	import subprocess
	8	process = subprocess.Popen(bashCommand.split(), stdout=subprocess.PIPE)
	9	result = process.communicate()[0].split("\n")
	10	header = result[0].lstrip()
	11	line1 = result[1].lstrip()
	12	hcolumns=header.split()
	13	columns=line1.split()
	14	for i in range(0,len(hcolumns)):
	15	if(hcolumns[i].find(section) != -1):
	16	return int(columns[i])
	17	return 0;
	18
	19
	20	def elfAddress(FileName,section):
	21	bashCommand = "readelf -S " + FileName
	22	import subprocess
	23	process = subprocess.Popen(bashCommand.split(), stdout=subprocess.PIPE)
	24	result = process.communicate()[0].split()
	25	for i in range(0,len(result)):
	26	if(result[i].find('.'+section) != -1):
	27	return int("0x"+result[i+2],16)
	28	return 0;
	29
	30	def compare(data1,data2):
	31	if len(data1)!=len(data2):
	32	return [-1,-1]
	33	for i in range(len(data1)):
	34	if data1[i]!=data2[i]:
	35	return [-1,i]
	36	return [1,-1]
	37
	38	def cycles(rootPlugin,textAddress,textSize,orgiData,count):
	39	for i in range(count):
	40	rootPlugin.dumpMemory(textAddress,textSize/4,"/opt/dump"+str(i)+".srec","srec")
	41	data = rootPlugin.Read(textAddress,textSize/4)
	42	result = compare(data,orgiData)
	43	if(result[0]==1):
	44	print("test number "+str(i)+" = success")
	45	else:
	46	print("test number "+str(i)+" = error @0x" + hex(textAddress + result[1]))
	47
	48
	49	#app = QtGui.QApplication(sys.argv)
	50	fileName = QtGui.QFileDialog.getOpenFileName()
	51
	52	if PySocExplorer.ElfFile.isElf(fileName):
	53	proxy.loadSysDriver("SpwPlugin","SpwPlugin0")
	54	SpwPlugin0.selectBridge("STAR-Dundee Spw USB Brick")
	55
	56	proxy.loadSysDriverToParent("dsu3plugin","SpwPlugin0")
	57	proxy.loadSysDriverToParent("LFRControlPlugin","SpwPlugin0")
	58	SpwPlugin0.TCPServerConnect()
	59	LFRControlPlugin0.TCPServerConnect()
	60	proxy.loadSysDriverToParent("APB_UART_PLUGIN","SpwPlugin0")
	61	availableBrickCount = SpwPlugin0.StarDundeeGetAvailableBrickCount()
	62	print(str(availableBrickCount) + " SpaceWire brick(s) found")
	63
	64	SpwPlugin0.StarDundeeSelectBrick(1)
	65	SpwPlugin0.StarDundeeSetBrickAsARouter(1)
	66	SpwPlugin0.connectBridge()
	67	APB_UART_PLUGIN0.setUARTPortNane("/dev/ttyUSB1")
	68	APB_UART_PLUGIN0.setUARTPortSpeed(38400)
	69	APB_UART_PLUGIN0.openUart()
	70	textSize= elfSize(fileName,"text")
	71	textAddress= elfAddress(fileName,"text")
	72	print "Found text section@" + hex(textAddress)+ " of " + str(textSize) +" bytes"
	73	print "loading software"
	74	dsu3plugin0.openFile(fileName)
	75	dsu3plugin0.loadFile()
	76	SpwPlugin0.dumpMemory(textAddress,textSize/4,"/opt/dumpOrig.srec","srec")
	77	dsu3plugin0.run()
	78	orgiData = SpwPlugin0.Read(textAddress,textSize/4)
	79	orgiData = SpwPlugin0.Read(textAddress,textSize/4)
	80
	81
	82
	83

header/fsw_init.h +2 -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 "GscMemoryLPP.hpp"
             extern rtems_name  Task_name[20];       /* array of task names */
             extern rtems_id    Task_id[20];         /* 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 );
+            void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max );
+            void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize );
             //
             int start_recv_send_tasks( void );
             //
             void init_local_mode_parameters( void );
             void reset_local_time( void );
             extern void rtems_cpu_usage_report( void );
             extern void 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_misc.h +6 0

             #ifndef FSW_MISC_H_INCLUDED
             #define FSW_MISC_H_INCLUDED
             #include <rtems.h>
             #include <stdio.h>
             #include <grspw.h>
             #include <grlib_regs.h>
             #include "fsw_params.h"
             #include "fsw_spacewire.h"
             #include "lfr_cpu_usage_report.h"
             rtems_name name_hk_rate_monotonic;     // name of the HK rate monotonic
             rtems_id HK_id;         // id of the HK rate monotonic period
             void configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() );
             void timer_start( gptimer_regs_t *gptimer_regs, unsigned char timer );
             void timer_stop( gptimer_regs_t *gptimer_regs, unsigned char timer );
             void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider);
             // SERIAL LINK
             int send_console_outputs_on_apbuart_port( void );
             int enable_apbuart_transmitter( void );
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value);
             // RTEMS TASKS
             rtems_task stat_task( rtems_task_argument argument );
             rtems_task hous_task( rtems_task_argument argument );
             rtems_task dumb_task( rtems_task_argument unused );
             void init_housekeeping_parameters( void );
             void increment_seq_counter(unsigned short *packetSequenceControl);
             void getTime( unsigned char *time);
             unsigned long long int getTimeAsUnsignedLongLongInt( );
             void send_dumb_hk( void );
             void get_temperatures( unsigned char *temperatures );
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential );
             void get_cpu_load( unsigned char *resource_statistics );
             extern int sched_yield( void );
             extern void rtems_cpu_usage_reset();
             extern ring_node *current_ring_node_f3;
             extern ring_node *ring_node_to_send_cwf_f3;
             extern ring_node waveform_ring_f3[];
             extern unsigned short sequenceCounterHK;
+            extern unsigned char hk_lfr_q_sd_fifo_size_max;
+            extern unsigned char hk_lfr_q_rv_fifo_size_max;
+            extern unsigned char hk_lfr_q_p0_fifo_size_max;
+            extern unsigned char hk_lfr_q_p1_fifo_size_max;
+            extern unsigned char hk_lfr_q_p2_fifo_size_max;
             #endif // FSW_MISC_H_INCLUDED

header/fsw_spacewire.h +1 0

             #ifndef FSW_SPACEWIRE_H_INCLUDED
             #define FSW_SPACEWIRE_H_INCLUDED
             #include <rtems.h>
             #include <grspw.h>
             #include <fcntl.h>      // for  O_RDWR
             #include <unistd.h>     // for the read call
             #include <sys/ioctl.h>  // for the ioctl call
             #include <errno.h>
             #include "fsw_params.h"
             #include "tc_handler.h"
+            #include "fsw_init.h"
             extern spw_stats spacewire_stats;
             extern spw_stats spacewire_stats_backup;
             // RTEMS TASK
             rtems_task spiq_task( rtems_task_argument argument );
             rtems_task recv_task( rtems_task_argument unused );
             rtems_task send_task( rtems_task_argument argument );
             rtems_task wtdg_task( rtems_task_argument argument );
             int spacewire_open_link( void );
             int spacewire_start_link( int fd );
             int spacewire_stop_and_start_link( int fd );
             int spacewire_configure_link(int fd );
             int spacewire_reset_link( void );
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ); // No Port force
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ); // RMAP Enable
             void spacewire_compute_stats_offsets( void );
             void spacewire_update_statistics( void );
             void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header );
             void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header );
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header );
             int spw_send_waveform_CWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header );
             int spw_send_waveform_SWF( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_SWF_t *header );
             int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_CWF_t *header );
             void spw_send_asm_f0( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
             void spw_send_asm_f1( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
             void spw_send_asm_f2( ring_node *ring_node_to_send, Header_TM_LFR_SCIENCE_ASM_t *header );
             void spw_send_k_dump( ring_node *ring_node_to_send );
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc );
             rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data );
             void (*grspw_timecode_callback) ( void *pDev, void *regs, int minor, unsigned int tc );
             #endif // FSW_SPACEWIRE_H_INCLUDED

header/processing/avf0_prc0.h +1 0

             #ifndef AVF0_PRC0_H_INCLUDED
             #define AVF0_PRC0_H_INCLUDED
             #include "fsw_processing.h"
             #include "basic_parameters.h"
+            #include "fsw_init.h"
             typedef struct {
                 unsigned int norm_bp1;
                 unsigned int norm_bp2;
                 unsigned int norm_asm;
                 unsigned int burst_sbm_bp1;
                 unsigned int burst_sbm_bp2;
                 unsigned int burst_bp1;
                 unsigned int burst_bp2;
                 unsigned int sbm1_bp1;
                 unsigned int sbm1_bp2;
                 unsigned int sbm2_bp1;
                 unsigned int sbm2_bp2;
             } nb_sm_before_bp_asm_f0;
             //************
             // RTEMS TASKS
             rtems_task avf0_task( rtems_task_argument lfrRequestedMode );
             rtems_task prc0_task( rtems_task_argument lfrRequestedMode );
             //**********
             // FUNCTIONS
             void reset_nb_sm_f0( unsigned char lfrMode );
             void init_k_coefficients_f0( void );
             void test_TCH( void );
             //*******
             // EXTERN
             extern rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id );
             #endif // AVF0_PRC0_H_INCLUDED

header/processing/avf1_prc1.h +1 0

             #ifndef AVF1_PRC1_H
             #define AVF1_PRC1_H
             #include "fsw_processing.h"
             #include "basic_parameters.h"
+            #include "fsw_init.h"
             typedef struct {
                 unsigned int norm_bp1;
                 unsigned int norm_bp2;
                 unsigned int norm_asm;
                 unsigned int burst_sbm_bp1;
                 unsigned int burst_sbm_bp2;
                 unsigned int burst_bp1;
                 unsigned int burst_bp2;
                 unsigned int sbm2_bp1;
                 unsigned int sbm2_bp2;
             } nb_sm_before_bp_asm_f1;
             //************
             // RTEMS TASKS
             rtems_task avf1_task( rtems_task_argument lfrRequestedMode );
             rtems_task prc1_task( rtems_task_argument lfrRequestedMode );
             //**********
             // FUNCTIONS
             void reset_nb_sm_f1( unsigned char lfrMode );
             void init_k_coefficients_f1( void );
             //*******
             // EXTERN
             extern rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id );
             #endif // AVF1_PRC1_H

header/processing/avf2_prc2.h +1 0

             #ifndef AVF2_PRC2_H
             #define AVF2_PRC2_H
             #include "fsw_processing.h"
             #include "basic_parameters.h"
+            #include "fsw_init.h"
             typedef struct {
                 unsigned int norm_bp1;
                 unsigned int norm_bp2;
                 unsigned int norm_asm;
             } nb_sm_before_bp_asm_f2;
             //************
             // RTEMS TASKS
             rtems_task avf2_task( rtems_task_argument lfrRequestedMode );
             rtems_task prc2_task( rtems_task_argument lfrRequestedMode );
             //**********
             // FUNCTIONS
             void reset_nb_sm_f2( void );
             void SM_average_f2(float *averaged_spec_mat_f2, ring_node *ring_node, unsigned int nbAverageNormF2 , asm_msg *msgForMATR);
             void init_k_coefficients_f2( void );
             //*******
             // EXTERN
             extern rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id );
             #endif // AVF2_PRC2_H

header/processing/fsw_processing.h +1 -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 <grlib_regs.h>
             #include "fsw_params.h"
-            #include "fsw_spacewire.h"
             typedef struct ring_node_asm
             {
                 struct ring_node_asm *next;
                 float  matrix[ TOTAL_SIZE_SM ];
                 unsigned int status;
             } ring_node_asm;
             typedef struct
             {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 // AUXILIARY HEADER
                 unsigned char sid;
                 unsigned char biaStatusInfo;
                 unsigned char sy_lfr_common_parameters_spare;
                 unsigned char sy_lfr_common_parameters;
                 unsigned char acquisitionTime[6];
                 unsigned char pa_lfr_bp_blk_nr[2];
                 // SOURCE DATA
                 unsigned char data[ 780 ];   // MAX size is 26 bins * 30 Bytes [TM_LFR_SCIENCE_BURST_BP2_F1]
             } bp_packet;
             typedef struct
             {
                 unsigned char targetLogicalAddress;
                 unsigned char protocolIdentifier;
                 unsigned char reserved;
                 unsigned char userApplication;
                 unsigned char packetID[2];
                 unsigned char packetSequenceControl[2];
                 unsigned char packetLength[2];
                 // DATA FIELD HEADER
                 unsigned char spare1_pusVersion_spare2;
                 unsigned char serviceType;
                 unsigned char serviceSubType;
                 unsigned char destinationID;
                 unsigned char time[6];
                 // AUXILIARY HEADER
                 unsigned char sid;
                 unsigned char biaStatusInfo;
                 unsigned char sy_lfr_common_parameters_spare;
                 unsigned char sy_lfr_common_parameters;
                 unsigned char acquisitionTime[6];
                 unsigned char source_data_spare;
                 unsigned char pa_lfr_bp_blk_nr[2];
                 // SOURCE DATA
                 unsigned char data[ 117 ];   // 13 bins  * 9 Bytes only for TM_LFR_SCIENCE_NORMAL_BP1_F0 and F1
             } bp_packet_with_spare;
-            typedef struct
+            typedef struct asm_msg
             {
                 ring_node_asm *norm;
                 ring_node_asm *burst_sbm;
                 rtems_event_set event;
                 unsigned int coarseTimeNORM;
                 unsigned int fineTimeNORM;
                 unsigned int coarseTimeSBM;
                 unsigned int fineTimeSBM;
             } 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;
             extern Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             // registers
             extern time_management_regs_t *time_management_regs;
             extern volatile spectral_matrix_regs_t *spectral_matrix_regs;
             extern rtems_name  misc_name[5];
             extern rtems_id    Task_id[20];         /* array of task ids */
             //
             ring_node * getRingNodeForAveraging( unsigned char frequencyChannel);
             // ISR
             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 );
             // ASM
             void ASM_generic_init_ring(ring_node_asm *ring, unsigned char nbNodes );
             //*****************
             // Basic Parameters
             void BP_reset_current_ring_nodes( void );
             void BP_init_header(bp_packet *packet,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength , unsigned char blkNr);
             void BP_init_header_with_spare(bp_packet_with_spare *packet,
                                             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_sm_status( void );
             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 );
             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 *ring_node_tab[],
                                           unsigned int nbAverageNORM, unsigned int nbAverageSBM,
                                           asm_msg *msgForMATR );
             static inline void SM_average_debug(float *averaged_spec_mat_NORM, float *averaged_spec_mat_SBM,
                                           ring_node *ring_node_tab[],
                                           unsigned int nbAverageNORM, unsigned int nbAverageSBM,
                                           asm_msg *msgForMATR );
             void ASM_patch( float *inputASM, float *outputASM );
             void extractReImVectors(float *inputASM, float *outputASM, unsigned int asmComponent );
             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 *ring_node_tab[],
                              unsigned int nbAverageNORM, unsigned int nbAverageSBM,
                              asm_msg *msgForMATR )
             {
                 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;
                         msgForMATR->coarseTimeNORM  = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeNORM    = ring_node_tab[0]->fineTime;
                         msgForMATR->coarseTimeSBM   = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeSBM     = ring_node_tab[0]->fineTime;
                     }
                     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;
                         msgForMATR->coarseTimeSBM   = ring_node_tab[0]->coarseTime;
                         msgForMATR->fineTimeSBM     = ring_node_tab[0]->fineTime;
                     }
                     else
                     {
                         PRINTF2("ERR *** in SM_average *** unexpected parameters %d %d\n", nbAverageNORM, nbAverageSBM)
                     }
                 }
             }
             void SM_average_debug( float *averaged_spec_mat_NORM, float *averaged_spec_mat_SBM,
                              ring_node *ring_node_tab[],
                              unsigned int nbAverageNORM, unsigned int nbAverageSBM,
                              asm_msg *msgForMATR )
             {
                 float sum;
                 unsigned int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     sum = ( (int *) (ring_node_tab[0]->buffer_address) ) [ i ];
                     averaged_spec_mat_NORM[ i ] = sum;
                     averaged_spec_mat_SBM[  i ] = sum;
                     msgForMATR->coarseTimeNORM  = ring_node_tab[0]->coarseTime;
                     msgForMATR->fineTimeNORM    = ring_node_tab[0]->fineTime;
                     msgForMATR->coarseTimeSBM   = ring_node_tab[0]->coarseTime;
                     msgForMATR->fineTimeSBM     = ring_node_tab[0]->fineTime;
                 }
             }
             void ASM_reorganize_and_divide( float *averaged_spec_mat, float *averaged_spec_mat_reorganized, float divider )
             {
                 int frequencyBin;
                 int asmComponent;
                 unsigned int offsetASM;
                 unsigned int offsetASMReorganized;
                 // BUILD DATA
                 for (asmComponent = 0; asmComponent < NB_VALUES_PER_SM; asmComponent++)
                 {
                     for( frequencyBin = 0; frequencyBin < NB_BINS_PER_SM; frequencyBin++ )
                     {
                         offsetASMReorganized =
                                 frequencyBin * NB_VALUES_PER_SM
                                 + asmComponent;
                         offsetASM            =
                                 asmComponent * NB_BINS_PER_SM
                                 + frequencyBin;
                         averaged_spec_mat_reorganized[offsetASMReorganized  ] =
                                 averaged_spec_mat[ offsetASM ] / 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 ] );
                         }
                         compressed_spec_mat[ offsetCompressed ] =
                                 compressed_spec_mat[ offsetCompressed ] / (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
                     }
                 }
             }
             void ASM_compress_reorganize_and_divide_mask(float *averaged_spec_mat, float *compressed_spec_mat,
                                               float divider,
                                               unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage , unsigned char ASMIndexStart);
             int getFBinMask(int k);
             #endif // FSW_PROCESSING_H_INCLUDED

header/tc_handler.h 0 -3

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "tc_load_dump_parameters.h"
             #include "tc_acceptance.h"
             #include "tm_lfr_tc_exe.h"
             #include "wf_handler.h"
             #include "fsw_processing.h"
             #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_spectral_matrix( void );
             void launch_spectral_matrix_simu( void );
             void set_sm_irq_onNewMatrix( unsigned char value );
             void set_sm_irq_onError( unsigned char value );
             // other functions
             void updateLFRCurrentMode();
             void set_lfr_soft_reset( unsigned char value );
             void reset_lfr( void );
             // CALIBRATION
             void setCalibrationPrescaler( unsigned int prescaler );
             void setCalibrationDivisor( unsigned int divisionFactor );
             void setCalibrationData( void );
             void setCalibrationReload( bool state);
             void setCalibrationEnable( bool state );
             void setCalibrationInterleaved( bool state );
             void startCalibration( void );
             void stopCalibration( void );
             void configureCalibration( bool interleaved );
             //
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
             extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
             #endif // TC_HANDLER_H_INCLUDED

header/wf_handler.h +1 -2

             #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_init.h"
-            #include "fsw_misc.h"
             #include "fsw_params_wf_handler.h"
             #define pi 3.14159265359
             extern int fdSPW;
             //*****************
             // waveform buffers
             extern volatile int wf_buffer_f0[ ];
             extern volatile int wf_buffer_f1[ ];
             extern volatile int wf_buffer_f2[ ];
             extern volatile int wf_buffer_f3[ ];
             extern waveform_picker_regs_0_1_18_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 unsigned char lfrCurrentMode;
             //**********
             // RTEMS_ISR
             void reset_extractSWF( void );
             rtems_isr waveforms_isr( 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_ring( ring_node ring[], unsigned char nbNodes, volatile int buffer[] , unsigned int bufferSize );
             void WFP_reset_current_ring_nodes( void );
             //
             int init_header_continuous_cwf3_light_table( Header_TM_LFR_SCIENCE_CWF_t *headerCWF );
             //
             int send_waveform_CWF3_light(ring_node *ring_node_to_send, ring_node *ring_node_cwf3_light, 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 , unsigned long long acquisitionTimeF0_asLong);
             void snapshot_resynchronization( unsigned char *timePtr );
             //
             rtems_id get_pkts_queue_id( void );
             //**************
             // wfp registers
             // RESET
             void reset_wfp_burst_enable( void );
             void reset_wfp_status( void );
             void reset_wfp_buffer_addresses( 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

python_scripts/LFRControlPlugin_setup.py +1 -1

             import time
             proxy.loadSysDriver("SpwPlugin","SpwPlugin0")
             SpwPlugin0.selectBridge("STAR-Dundee Spw USB Brick")
             proxy.loadSysDriverToParent("dsu3plugin","SpwPlugin0")
             proxy.loadSysDriverToParent("LFRControlPlugin","SpwPlugin0")
             availableBrickCount = SpwPlugin0.StarDundeeGetAvailableBrickCount()
             print str(availableBrickCount) + " SpaceWire brick(s) found"
             SpwPlugin0.StarDundeeSelectBrick(1)
             SpwPlugin0.StarDundeeSetBrickAsARouter(1)
-            SpwPlugin0.StarDundeeSelectLinkNumber( 2 )
+            SpwPlugin0.StarDundeeSelectLinkNumber( 1 )
             SpwPlugin0.connectBridge()
             #SpwPlugin0.TCPServerSetIP("127.0.0.1")
             SpwPlugin0.TCPServerConnect()
             # OPEN SPACEWIRE SERVER
             #LFRControlPlugin0.SetSpwServerIP(129,104,27,164)
             LFRControlPlugin0.TCPServerConnect()
             # OPEN TM ECHO BRIDGE SERVER
             LFRControlPlugin0.TMEchoBridgeOpenPort()
             # START SENDING TIMECODES AT 1 Hz
             SpwPlugin0.StarDundeeStartTimecodes( 1 )
             # it is possible to change the time code frequency
             #RMAPPlugin0.changeTimecodeFrequency(2)

src/fsw_globals.c +6 -1

             /** Global variables of the LFR flight software.
              *
              * @file
              * @author P. LEROY
              *
              * Among global variables, there are:
              * - RTEMS names and id.
              * - APB configuration registers.
              * - waveforms global buffers, used by the waveform picker hardware module to store data.
              * - spectral  matrices buffesr, used by the hardware module to store data.
              * - variable related to LFR modes parameters.
              * - the global HK packet buffer.
              * - the global dump parameter buffer.
              *
              */
             #include <rtems.h>
             #include <grspw.h>
             #include "ccsds_types.h"
             #include "grlib_regs.h"
             #include "fsw_params.h"
             #include "fsw_params_wf_handler.h"
             // RTEMS GLOBAL VARIABLES
             rtems_name  misc_name[5];
             rtems_name  Task_name[20];       /* array of task names */
             rtems_id    Task_id[20];         /* array of task ids */
-            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_buffer_f0[ NB_RING_NODES_F0 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_buffer_f1[ NB_RING_NODES_F1 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_buffer_f2[ NB_RING_NODES_F2 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             volatile int wf_buffer_f3[ NB_RING_NODES_F3 * WFRM_BUFFER ] __attribute__((aligned(0x100)));
             //***********************************
             // SPECTRAL MATRICES GLOBAL VARIABLES
             // alignment constraints for the spectral matrices buffers => the first data after the time (8 bytes) shall be aligned on 0x00
             volatile int sm_f0[ NB_RING_NODES_SM_F0 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f1[ NB_RING_NODES_SM_F1 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             volatile int sm_f2[ NB_RING_NODES_SM_F2 * TOTAL_SIZE_SM ] __attribute__((aligned(0x100)));
             // APB CONFIGURATION REGISTERS
             time_management_regs_t          *time_management_regs   = (time_management_regs_t*)         REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t                  *gptimer_regs           = (gptimer_regs_t *)                REGS_ADDR_GPTIMER;
             waveform_picker_regs_0_1_18_t   *waveform_picker_regs   = (waveform_picker_regs_0_1_18_t*)  REGS_ADDR_WAVEFORM_PICKER;
             spectral_matrix_regs_t          *spectral_matrix_regs   = (spectral_matrix_regs_t*)         REGS_ADDR_SPECTRAL_MATRIX;
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
+            // message queues occupancy
+            unsigned char hk_lfr_q_sd_fifo_size_max;
+            unsigned char hk_lfr_q_rv_fifo_size_max;
+            unsigned char hk_lfr_q_p0_fifo_size_max;
+            unsigned char hk_lfr_q_p1_fifo_size_max;
+            unsigned char hk_lfr_q_p2_fifo_size_max;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
             unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounterHK;
             unsigned short sequenceCounterParameterDump;
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +55 0

             /** 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_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
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
+            #include "GscMemoryLPP.hpp"
             void initCache()
             {
                 unsigned int cacheControlRegister;
                 cacheControlRegister = getCacheControlRegister();
                 printf("(0) cacheControlRegister = %x\n", cacheControlRegister);
                 resetCacheControlRegister();
                 enableInstructionCache();
                 enableDataCache();
                 enableInstructionBurstFetch();
                 cacheControlRegister = getCacheControlRegister();
                 printf("(1) cacheControlRegister = %x\n", cacheControlRegister);
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // 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")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d             **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_f0();
                 init_k_coefficients_f1();
                 init_k_coefficients_f2();
                 // 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();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 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,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 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 = time_management_regs->ctrl | 0x02;  // [0010] software reset, coarse time = 0x80000000
             }
             void create_names( void ) // create all names for tasks and queues
             {
                 /** This function creates all RTEMS names used in the software for tasks and queues.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - successful completion
                  *
                  */
                 // task names
                 Task_name[TASKID_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' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 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 * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &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_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_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // 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_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
                     );
                 }
                 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")
                     }
                 }
                 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;
             }
+            void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
+            {
+                u_int32_t count;
+                rtems_status_code status;
+                status = rtems_message_queue_get_number_pending( queue_id, &count );
+                count = count + 1;
+                if (status != RTEMS_SUCCESSFUL)
+                {
+                    PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
+                }
+                else
+                {
+                    if (count > *fifo_size_max)
+                    {
+                        *fifo_size_max = count;
+                    }
+                }
+            }
+            void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
+            {
+                unsigned char i;
+                //***************
+                // BUFFER ADDRESS
+                for(i=0; i<nbNodes; i++)
+                {
+                    ring[i].coarseTime = 0x00;
+                    ring[i].fineTime = 0x00;
+                    ring[i].sid = 0x00;
+                    ring[i].status = 0x00;
+                    ring[i].buffer_address  = (int) &buffer[ i * bufferSize ];
+                }
+                //*****
+                // NEXT
+                 ring[ nbNodes - 1 ].next  = (ring_node*) &ring[ 0 ];
+                 for(i=0; i<nbNodes-1; i++)
+                 {
+                     ring[i].next      = (ring_node*) &ring[ i + 1 ];
+                 }
+                //*********
+                // PREVIOUS
+                ring[ 0 ].previous       = (ring_node*) &ring[ nbNodes - 1 ];
+                for(i=1; i<nbNodes; i++)
+                {
+                    ring[i].previous   = (ring_node*) &ring[ i - 1 ];
+                }
+            }

src/fsw_misc.c +35 -18

             /** 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);
                     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_status_code spare_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 )
                     }
                 }
-                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);
                         spare_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();
+                        housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
+                        housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
+                        housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
+                        housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
+                        housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
                         housekeeping_packet.sy_lfr_common_parameters_spare  = parameter_dump_packet.sy_lfr_common_parameters_spare;
                         housekeeping_packet.sy_lfr_common_parameters        = parameter_dump_packet.sy_lfr_common_parameters;
                         get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
                         get_v_e1_e2_f3(   housekeeping_packet.hk_lfr_sc_v_f3  );
                         get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
                         // SEND PACKET
                         status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
                                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR send: %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 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
                                     "VHDL SM *** two buffers f0 ready",                                     // 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)
                             {
                             }
                             if (i==10)
                             {
                             }
                         }
                     }
                 }
             }
             //*****************************
             // init housekeeping parameters
             void init_housekeeping_parameters( void )
             {
                 /** This function initialize the housekeeping_packet global variable with default values.
                  *
                  */
                 unsigned int i = 0;
                 unsigned char *parameters;
+                unsigned char sizeOfHK;
-                parameters = (unsigned char*) &housekeeping_packet.lfr_status_word;
+                sizeOfHK = sizeof( Packet_TM_LFR_HK_t );
-                for(i = 0; i< SIZE_HK_PARAMETERS; i++)
+                parameters = (unsigned char*) &housekeeping_packet;
+                for(i = 0; i< sizeOfHK; i++)
                 {
                     parameters[i] = 0x00;
                 }
+                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;
                 // 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
+                housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND;
+                housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV;
+                housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0;
+                housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1;
+                housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2;
             }
             void increment_seq_counter( unsigned short *packetSequenceControl )
             {
                 /** This function increment the sequence counter passes in argument.
                  *
                  * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
                  *
                  */
                 unsigned short segmentation_grouping_flag;
                 unsigned short sequence_cnt;
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 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_send( queue_id, &dummy_hk_packet,
                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
             }
             void get_temperatures( unsigned char *temperatures )
             {
                 unsigned char* temp_scm_ptr;
                 unsigned char* temp_pcb_ptr;
                 unsigned char* temp_fpga_ptr;
                 // SEL1 SEL0
                 // 0    0       => PCB
                 // 0    1       => FPGA
                 // 1    0       => SCM
                 temp_scm_ptr  = (unsigned char *) &time_management_regs->temp_scm;
                 temp_pcb_ptr =  (unsigned char *) &time_management_regs->temp_pcb;
                 temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga;
                 temperatures[0] = temp_scm_ptr[2];
                 temperatures[1] = temp_scm_ptr[3];
                 temperatures[2] = temp_pcb_ptr[2];
                 temperatures[3] = temp_pcb_ptr[3];
                 temperatures[4] = temp_fpga_ptr[2];
                 temperatures[5] = temp_fpga_ptr[3];
             }
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
             {
                 unsigned char* v_ptr;
                 unsigned char* e1_ptr;
                 unsigned char* e2_ptr;
                 v_ptr  = (unsigned char *) &waveform_picker_regs->v;
                 e1_ptr = (unsigned char *) &waveform_picker_regs->e1;
                 e2_ptr = (unsigned char *) &waveform_picker_regs->e2;
                 spacecraft_potential[0] = v_ptr[2];
                 spacecraft_potential[1] = v_ptr[3];
                 spacecraft_potential[2] = e1_ptr[2];
                 spacecraft_potential[3] = e1_ptr[3];
                 spacecraft_potential[4] = e2_ptr[2];
                 spacecraft_potential[5] = e2_ptr[3];
             }
             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 +9 -21

             /** Functions related to the SpaceWire interface.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle SpaceWire transmissions:
              * - configuration of the SpaceWire link
              * - SpaceWire related interruption requests processing
              * - transmission of TeleMetry packets by a dedicated RTEMS task
              * - reception of TeleCommands by a dedicated RTEMS task
              *
              */
             #include "fsw_spacewire.h"
             rtems_name semq_name;
             rtems_id semq_id;
             //*****************
             // waveform headers
             Header_TM_LFR_SCIENCE_CWF_t headerCWF;
             Header_TM_LFR_SCIENCE_SWF_t headerSWF;
             Header_TM_LFR_SCIENCE_ASM_t headerASM;
             //***********
             // 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)
+                            PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status)
                         }
                     }
                     // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
                     if ( status == RTEMS_SUCCESSFUL )   // [3.a] the link is in run state and has been started successfully
                     {
                         status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming SEND Task\n")
                         }
                         status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                         }
                     }
                     else                                // [3.b] the link is not in run state, go in STANDBY mode
                     {
-                        status = 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);
                             }
                         }
                     }
+                    update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max );
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;                // RTEMS status code
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 ring_node *incomingRingNodePtr;
                 int ring_node_address;
                 char *charPtr;
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
-                u_int32_t count;
+                rtems_id queue_send_id;
-                rtems_id queue_id;
                 unsigned int sid;
                 incomingRingNodePtr = NULL;
                 ring_node_address = 0;
                 charPtr = (char *) &ring_node_address;
                 sid = 0;
                 init_header_cwf( &headerCWF );
                 init_header_swf( &headerSWF );
                 init_header_asm( &headerASM );
-                status =  get_message_queue_id_send( &queue_id );
+                status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in SEND *** \n")
                 while(1)
                 {
-                    status = rtems_message_queue_receive( queue_id, incomingData, &size,
+                    status = rtems_message_queue_receive( queue_send_id, incomingData, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (1) ERR = %d\n", status)
                     }
                     else
                     {
                         if ( size == sizeof(ring_node*) )
                         {
                             charPtr[0] = incomingData[0];
                             charPtr[1] = incomingData[1];
                             charPtr[2] = incomingData[2];
                             charPtr[3] = incomingData[3];
                             incomingRingNodePtr = (ring_node*) ring_node_address;
                             sid = incomingRingNodePtr->sid;
                             if ( (sid==SID_NORM_CWF_LONG_F3)
                                  || (sid==SID_BURST_CWF_F2 )
                                  || (sid==SID_SBM1_CWF_F1  )
                                  || (sid==SID_SBM2_CWF_F2  ))
                             {
                                 spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF );
                             }
                             else if ( (sid==SID_NORM_SWF_F0) || (sid== SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) )
                             {
                                 spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF );
                             }
                             else if ( (sid==SID_NORM_CWF_F3) )
                             {
                                 spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF );
                             }
                             else if (sid==SID_NORM_ASM_F0)
                             {
                                 spw_send_asm_f0( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F1)
                             {
                                 spw_send_asm_f1( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F2)
                             {
                                 spw_send_asm_f2( incomingRingNodePtr, &headerASM );
                             }
                             else if ( sid==TM_CODE_K_DUMP )
                             {
                                 spw_send_k_dump( incomingRingNodePtr );
                             }
                             else
                             {
                                 printf("unexpected sid = %d\n", sid);
                             }
                         }
                         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){
                                 printf("size = %d, %x, %x, %x, %x, %x\n",
                                        size,
                                        incomingData[0],
                                         incomingData[1],
                                         incomingData[2],
                                         incomingData[3],
                                         incomingData[4]);
                                 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
                             }
                         }
                     }
-                    status = rtems_message_queue_get_number_pending( queue_id, &count );
+                    update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max );
-                    if (status != RTEMS_SUCCESSFUL)
-                        PRINTF1("in SEND *** (3) ERR = %d\n", status)
-                    else
-                        if (count > maxCount)
-                            maxCount = count;
                 }
             }
             rtems_task wtdg_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in WTDG ***\n")
                 while(1)
                 {
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("in WTDG *** wait for the link\n")
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);       // get the link status
                     while( linkStatus != 5)                                                     // wait for the link
                     {
                         status = rtems_task_wake_after( 10 );                                   // monitor the link each 100ms
                         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, 1);              // transmission blocks
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);      // transmission blocks when no transmission descriptor is available
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                 }
                 return status;
             }
             int spacewire_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;
                 rtems_status_code status;
                 int i;
                 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
                 {
                     PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
                     // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
                     status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     status_spw = spacewire_stop_and_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
                     }
                     if ( status_spw == RTEMS_SUCCESSFUL)
                     {
                         break;
                     }
                 }
                 return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & 0xffdfffff;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             void spacewire_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 )
             {
                 // a valid timecode has been received, write it in the HK report
                 unsigned int * grspwPtr;
                 grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER);
                 housekeeping_packet.hk_lfr_dpu_spw_last_timc = (unsigned char) (grspwPtr[0] & 0xff);   // [11 1111]
                 // update the number of valid timecodes that have been received
                 if (housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt == 255)
                 {
                     housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = 0;
                 }
                 else
                 {
                     housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt + 1;
                 }
             }
             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;
                 }
             }
             void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 header->targetLogicalAddress    = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier      = CCSDS_PROTOCOLE_ID;
                 header->reserved                = DEFAULT_RESERVED;
                 header->userApplication         = CCSDS_USER_APP;
                 header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid = 0x00;
                 header->hkBIA = DEFAULT_HKBIA;
                 header->blkNr[0] = 0x00;
                 header->blkNr[1] = 0x00;
             }
             void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid     = 0x00;
                 header->hkBIA   = DEFAULT_HKBIA;
                 header->pktCnt  = DEFAULT_PKTCNT;  // PKT_CNT
                 header->pktNr   = 0x00;
                 header->blkNr[0]        = (unsigned char) (BLK_NR_CWF >> 8);
                 header->blkNr[1]        = (unsigned char) (BLK_NR_CWF     );
             }
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid     = 0x00;
                 header->biaStatusInfo = 0x00;
                 header->pa_lfr_pkt_cnt_asm = 0x00;
                 header->pa_lfr_pkt_nr_asm = 0x00;
                 header->pa_lfr_asm_blk_nr[0] = 0x00;
                 header->pa_lfr_asm_blk_nr[1] = 0x00;
             }
             int spw_send_waveform_CWF( ring_node *ring_node_to_send,
                                   Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = (unsigned char) ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF     );
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr  = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime);
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET PACKET ID
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> 8);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     }
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", sid, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_SWF( ring_node *ring_node_to_send,
                                    Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF;
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 sid = ring_node_to_send->sid;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_SWF.hdr = (char*) header;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET PACKET LENGTH AND BLKNR
                     if (i == 6)
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_224 >> 8);
                         header->blkNr[1] = (unsigned char) (BLK_NR_224     );
                     }
                     else
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_304 >> 8);
                         header->blkNr[1] = (unsigned char) (BLK_NR_304     );
                     }
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime );
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET SID
                     header->sid = sid;
                     // SET PKTNR
                     header->pktNr = i+1;    // PKT_NR
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", sid, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send,
                                               Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (char*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
                 //*********************
                 // SEND CWF3_light DATA
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime );
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET PACKET ID
                     header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                     header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("%d-%d, ERR %d\n", sid, i, (int) status);
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             void spw_send_asm_f0( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in ASM_send *** ERR %d\n", (int) status);
                     }
                 }
             }
             void spw_send_asm_f1( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in ASM_send *** ERR %d\n", (int) status);
                     }
                 }
             }
             void spw_send_asm_f2( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT;
                     spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                             ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM )
                             ];
                     length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2;
                     header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3;
                     header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB
                     header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F2);        // BLK_NR LSB
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in ASM_send *** ERR %d\n", (int) status);
                     }
                 }
             }
             void spw_send_k_dump( ring_node *ring_node_to_send )
             {
                 rtems_status_code status;
                 Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump;
                 unsigned int packetLength;
                 unsigned int size;
                 printf("spw_send_k_dump\n");
                 kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address;
                 packetLength = kcoefficients_dump->packetLength[0] * 256 + kcoefficients_dump->packetLength[1];
                 size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 printf("packetLength %d, size %d\n", packetLength, size );
                 status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size );
                 if (status == -1){
                     PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                 }
                 ring_node_to_send->status = 0x00;
             }

src/processing/avf0_prc0.c +3 0

             /** 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 "avf0_prc0.h"
             #include "fsw_processing.h"
             nb_sm_before_bp_asm_f0 nb_sm_before_f0;
             //***
             // F0
             ring_node_asm asm_ring_norm_f0      [ NB_RING_NODES_ASM_NORM_F0      ];
             ring_node_asm asm_ring_burst_sbm_f0 [ NB_RING_NODES_ASM_BURST_SBM_F0 ];
             ring_node ring_to_send_asm_f0       [ NB_RING_NODES_ASM_F0 ];
             int buffer_asm_f0                   [ NB_RING_NODES_ASM_F0 * TOTAL_SIZE_SM ];
             float asm_f0_patched_norm       [ TOTAL_SIZE_SM ];
             float asm_f0_patched_burst_sbm  [ TOTAL_SIZE_SM ];
             float asm_f0_reorganized        [ TOTAL_SIZE_SM ];
             char  asm_f0_char          [ TIME_OFFSET_IN_BYTES + (TOTAL_SIZE_SM * 2) ];
             float compressed_sm_norm_f0[ TOTAL_SIZE_COMPRESSED_ASM_NORM_F0];
             float compressed_sm_sbm_f0 [ TOTAL_SIZE_COMPRESSED_ASM_SBM_F0 ];
             float k_coeff_intercalib_f0_norm[ NB_BINS_COMPRESSED_SM_F0     * NB_K_COEFF_PER_BIN ];  // 11 * 32 = 352
             float k_coeff_intercalib_f0_sbm[  NB_BINS_COMPRESSED_SM_SBM_F0 * NB_K_COEFF_PER_BIN ];  // 22 * 32 = 704
             //************
             // RTEMS TASKS
             rtems_task avf0_task( rtems_task_argument lfrRequestedMode )
             {
                 int i;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id_prc0;
                 asm_msg msgForMATR;
                 ring_node *nodeForAveraging;
                 ring_node *ring_node_tab[8];
                 ring_node_asm *current_ring_node_asm_burst_sbm_f0;
                 ring_node_asm *current_ring_node_asm_norm_f0;
                 unsigned int nb_norm_bp1;
                 unsigned int nb_norm_bp2;
                 unsigned int nb_norm_asm;
                 unsigned int nb_sbm_bp1;
                 unsigned int nb_sbm_bp2;
                 nb_norm_bp1 = 0;
                 nb_norm_bp2 = 0;
                 nb_norm_asm = 0;
                 nb_sbm_bp1  = 0;
                 nb_sbm_bp2  = 0;
                 reset_nb_sm_f0( lfrRequestedMode );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 ASM_generic_init_ring( asm_ring_norm_f0,      NB_RING_NODES_ASM_NORM_F0      );
                 ASM_generic_init_ring( asm_ring_burst_sbm_f0, NB_RING_NODES_ASM_BURST_SBM_F0 );
                 current_ring_node_asm_norm_f0      = asm_ring_norm_f0;
                 current_ring_node_asm_burst_sbm_f0 = asm_ring_burst_sbm_f0;
                 BOOT_PRINTF1("in AVFO *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 status = get_message_queue_id_prc0( &queue_id_prc0 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in MATR *** ERR get_message_queue_id_prc0 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     //****************************************
                     // initialize the mesage for the MATR task
                     msgForMATR.norm       = current_ring_node_asm_norm_f0;
                     msgForMATR.burst_sbm  = current_ring_node_asm_burst_sbm_f0;
                     msgForMATR.event      = 0x00;  // this composite event will be sent to the PRC0 task
                     //
                     //****************************************
                     nodeForAveraging = getRingNodeForAveraging( 0 );
                     ring_node_tab[NB_SM_BEFORE_AVF0-1] = nodeForAveraging;
                     for ( i = 2; i < (NB_SM_BEFORE_AVF0+1); i++ )
                     {
                         nodeForAveraging = nodeForAveraging->previous;
                         ring_node_tab[NB_SM_BEFORE_AVF0-i] = nodeForAveraging;
                     }
                     // compute the average and store it in the averaged_sm_f1 buffer
                     SM_average( current_ring_node_asm_norm_f0->matrix,
                                 current_ring_node_asm_burst_sbm_f0->matrix,
                                 ring_node_tab,
                                 nb_norm_bp1, nb_sbm_bp1,
                                 &msgForMATR );
                     // update nb_average
                     nb_norm_bp1 = nb_norm_bp1 + NB_SM_BEFORE_AVF0;
                     nb_norm_bp2 = nb_norm_bp2 + NB_SM_BEFORE_AVF0;
                     nb_norm_asm = nb_norm_asm + NB_SM_BEFORE_AVF0;
                     nb_sbm_bp1  = nb_sbm_bp1  + NB_SM_BEFORE_AVF0;
                     nb_sbm_bp2  = nb_sbm_bp2  + NB_SM_BEFORE_AVF0;
                     if (nb_sbm_bp1 == nb_sm_before_f0.burst_sbm_bp1)
                     {
                         nb_sbm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_burst_sbm_f0 = current_ring_node_asm_burst_sbm_f0->next;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_BP1_F0;
                         }
                         else if ( (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_SBM_BP1_F0;
                         }
                     }
                     if (nb_sbm_bp2 == nb_sm_before_f0.burst_sbm_bp2)
                     {
                         nb_sbm_bp2 = 0;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_BP2_F0;
                         }
                         else if ( (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_SBM_BP2_F0;
                         }
                     }
                     if (nb_norm_bp1 == nb_sm_before_f0.norm_bp1)
                     {
                         nb_norm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f0 = current_ring_node_asm_norm_f0->next;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP1_F0;
                         }
                     }
                     if (nb_norm_bp2 == nb_sm_before_f0.norm_bp2)
                     {
                         nb_norm_bp2 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP2_F0;
                         }
                     }
                     if (nb_norm_asm == nb_sm_before_f0.norm_asm)
                     {
                         nb_norm_asm = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_ASM_F0;
                         }
                     }
                     //*************************
                     // send the message to MATR
                     if (msgForMATR.event != 0x00)
                     {
                         status =  rtems_message_queue_send( queue_id_prc0, (char *) &msgForMATR, MSG_QUEUE_SIZE_PRC0);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in AVF0 *** Error sending message to MATR, code %d\n", status);
                     }
                 }
             }
             rtems_task prc0_task( rtems_task_argument lfrRequestedMode )
             {
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 size_t size;                            // size of the incoming TC packet
                 asm_msg *incomingMsg;
                 //
                 unsigned char sid;
                 rtems_status_code status;
                 rtems_id queue_id;
                 rtems_id queue_id_q_p0;
                 bp_packet_with_spare    packet_norm_bp1;
                 bp_packet               packet_norm_bp2;
                 bp_packet               packet_sbm_bp1;
                 bp_packet               packet_sbm_bp2;
                 ring_node               *current_ring_node_to_send_asm_f0;
                 // init the ring of the averaged spectral matrices which will be transmitted to the DPU
                 init_ring( ring_to_send_asm_f0, NB_RING_NODES_ASM_F0, (volatile int*) buffer_asm_f0, TOTAL_SIZE_SM );
                 current_ring_node_to_send_asm_f0 = ring_to_send_asm_f0;
                 //*************
                 // NORM headers
                 BP_init_header_with_spare( &packet_norm_bp1,
                                            APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F0,
                                            PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0, NB_BINS_COMPRESSED_SM_F0 );
                 BP_init_header( &packet_norm_bp2,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F0,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0, NB_BINS_COMPRESSED_SM_F0);
                 //****************************
                 // BURST SBM1 and SBM2 headers
                 if ( lfrRequestedMode == LFR_MODE_BURST )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP1_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP2_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                 }
                 else if ( lfrRequestedMode == LFR_MODE_SBM1 )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP1_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM1_BP2_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                 }
                 else if ( lfrRequestedMode == LFR_MODE_SBM2 )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP1_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP2_F0,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0, NB_BINS_COMPRESSED_SM_SBM_F0);
                 }
                 else
                 {
                     PRINTF1("in PRC0 *** lfrRequestedMode is %d, several headers not initialized\n", (unsigned int) lfrRequestedMode)
                 }
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC0 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 status = get_message_queue_id_prc0( &queue_id_q_p0);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC0 *** ERR get_message_queue_id_prc0 %d\n", status)
                 }
                 BOOT_PRINTF1("in PRC0 *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 while(1){
                     status = rtems_message_queue_receive( queue_id_q_p0, incomingData, &size, //************************************
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );      // wait for a message coming from AVF0
                     incomingMsg = (asm_msg*) incomingData;
                     ASM_patch( incomingMsg->norm->matrix,      asm_f0_patched_norm      );
                     ASM_patch( incomingMsg->burst_sbm->matrix, asm_f0_patched_burst_sbm );
                     //****************
                     //****************
                     // BURST SBM1 SBM2
                     //****************
                     //****************
                     if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP1_F0 ) || (incomingMsg->event & RTEMS_EVENT_SBM_BP1_F0 ) )
                     {
                         sid = getSID( incomingMsg->event );
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide( asm_f0_patched_burst_sbm, compressed_sm_sbm_f0,
                                                      nb_sm_before_f0.burst_sbm_bp1,
                                                      NB_BINS_COMPRESSED_SM_SBM_F0, NB_BINS_TO_AVERAGE_ASM_SBM_F0,
                                                      ASM_F0_INDICE_START);
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_sbm_f0, k_coeff_intercalib_f0_sbm, NB_BINS_COMPRESSED_SM_SBM_F0, packet_sbm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_sbm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                         set_time( packet_sbm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                         packet_sbm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_sbm_bp1, queue_id,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F0 + PACKET_LENGTH_DELTA,
                                  sid);
                         // 4) compute the BP2 set if needed
                         if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP2_F0) || (incomingMsg->event & RTEMS_EVENT_SBM_BP2_F0) )
                         {
                             // 1) compute the BP2 set
                             BP2_set( compressed_sm_sbm_f0, NB_BINS_COMPRESSED_SM_SBM_F0, packet_sbm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_sbm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                             set_time( packet_sbm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                             packet_sbm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send( (char *) &packet_sbm_bp2, queue_id,
                                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F0 + PACKET_LENGTH_DELTA,
                                      sid);
                         }
                     }
                     //*****
                     //*****
                     // NORM
                     //*****
                     //*****
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F0)
                     {
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide( asm_f0_patched_norm, compressed_sm_norm_f0,
                                                      nb_sm_before_f0.norm_bp1,
                                                      NB_BINS_COMPRESSED_SM_F0, NB_BINS_TO_AVERAGE_ASM_F0,
                                                      ASM_F0_INDICE_START );
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_norm_f0, k_coeff_intercalib_f0_norm, NB_BINS_COMPRESSED_SM_F0, packet_norm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp1, queue_id,
                                   PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F0 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP1_F0 );
                         if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F0)
                         {
                             // 1) compute the BP2 set using the same ASM as the one used for BP1
                             BP2_set( compressed_sm_norm_f0, NB_BINS_COMPRESSED_SM_F0, packet_norm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                             set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                             packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send( (char *) &packet_norm_bp2, queue_id,
                                       PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F0 + PACKET_LENGTH_DELTA,
                                      SID_NORM_BP2_F0);
                         }
                     }
                     if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F0)
                     {
                         // 1) reorganize the ASM and divide
                         ASM_reorganize_and_divide( asm_f0_patched_norm,
                                                    (float*) current_ring_node_to_send_asm_f0->buffer_address,
                                                    nb_sm_before_f0.norm_bp1 );
                         current_ring_node_to_send_asm_f0->coarseTime    = incomingMsg->coarseTimeNORM;
                         current_ring_node_to_send_asm_f0->fineTime      = incomingMsg->fineTimeNORM;
                         current_ring_node_to_send_asm_f0->sid           = SID_NORM_ASM_F0;
                         // 3) send the spectral matrix packets
                         status =  rtems_message_queue_send( queue_id, &current_ring_node_to_send_asm_f0, sizeof( ring_node* ) );
                         // change asm ring node
                         current_ring_node_to_send_asm_f0 = current_ring_node_to_send_asm_f0->next;
                     }
+                    update_queue_max_count( queue_id_q_p0, &hk_lfr_q_p0_fifo_size_max );
                 }
             }
             //**********
             // FUNCTIONS
             void reset_nb_sm_f0( unsigned char lfrMode )
             {
                 nb_sm_before_f0.norm_bp1 = parameter_dump_packet.sy_lfr_n_bp_p0 * 96;
                 nb_sm_before_f0.norm_bp2 = parameter_dump_packet.sy_lfr_n_bp_p1 * 96;
                 nb_sm_before_f0.norm_asm = (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1]) * 96;
                 nb_sm_before_f0.sbm1_bp1 =  parameter_dump_packet.sy_lfr_s1_bp_p0 * 24;     // 0.25 s per digit
                 nb_sm_before_f0.sbm1_bp2 =  parameter_dump_packet.sy_lfr_s1_bp_p1 * 96;
                 nb_sm_before_f0.sbm2_bp1 =  parameter_dump_packet.sy_lfr_s2_bp_p0 * 96;
                 nb_sm_before_f0.sbm2_bp2 =  parameter_dump_packet.sy_lfr_s2_bp_p1 * 96;
                 nb_sm_before_f0.burst_bp1 =  parameter_dump_packet.sy_lfr_b_bp_p0 * 96;
                 nb_sm_before_f0.burst_bp2 =  parameter_dump_packet.sy_lfr_b_bp_p1 * 96;
                 if (lfrMode == LFR_MODE_SBM1)
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.sbm1_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.sbm1_bp2;
                 }
                 else if (lfrMode == LFR_MODE_SBM2)
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.sbm2_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.sbm2_bp2;
                 }
                 else if (lfrMode == LFR_MODE_BURST)
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.burst_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.burst_bp2;
                 }
                 else
                 {
                     nb_sm_before_f0.burst_sbm_bp1 =  nb_sm_before_f0.burst_bp1;
                     nb_sm_before_f0.burst_sbm_bp2 =  nb_sm_before_f0.burst_bp2;
                 }
             }
             void init_k_coefficients_f0( void )
             {
                 init_k_coefficients( k_coeff_intercalib_f0_norm, NB_BINS_COMPRESSED_SM_F0    );
                 init_k_coefficients( k_coeff_intercalib_f0_sbm,  NB_BINS_COMPRESSED_SM_SBM_F0);
             }

src/processing/avf1_prc1.c +2 0

             /** 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 "avf1_prc1.h"
             nb_sm_before_bp_asm_f1 nb_sm_before_f1;
             extern ring_node sm_ring_f1[ ];
             //***
             // F1
             ring_node_asm asm_ring_norm_f1      [ NB_RING_NODES_ASM_NORM_F1      ];
             ring_node_asm asm_ring_burst_sbm_f1 [ NB_RING_NODES_ASM_BURST_SBM_F1 ];
             ring_node ring_to_send_asm_f1       [ NB_RING_NODES_ASM_F1 ];
             int buffer_asm_f1                   [ NB_RING_NODES_ASM_F1 * TOTAL_SIZE_SM ];
             float asm_f1_patched_norm       [ TOTAL_SIZE_SM ];
             float asm_f1_patched_burst_sbm  [ TOTAL_SIZE_SM ];
             float asm_f1_reorganized        [ TOTAL_SIZE_SM ];
             char  asm_f1_char          [ TOTAL_SIZE_SM * 2 ];
             float compressed_sm_norm_f1[ TOTAL_SIZE_COMPRESSED_ASM_NORM_F1];
             float compressed_sm_sbm_f1 [ TOTAL_SIZE_COMPRESSED_ASM_SBM_F1 ];
             float k_coeff_intercalib_f1_norm[ NB_BINS_COMPRESSED_SM_F1     * NB_K_COEFF_PER_BIN ];   // 13 * 32 = 416
             float k_coeff_intercalib_f1_sbm[  NB_BINS_COMPRESSED_SM_SBM_F1 * NB_K_COEFF_PER_BIN ];   // 26 * 32 = 832
             //************
             // RTEMS TASKS
             rtems_task avf1_task( rtems_task_argument lfrRequestedMode )
             {
                 int i;
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id_prc1;
                 asm_msg msgForMATR;
                 ring_node *nodeForAveraging;
                 ring_node *ring_node_tab[NB_SM_BEFORE_AVF0];
                 ring_node_asm *current_ring_node_asm_burst_sbm_f1;
                 ring_node_asm *current_ring_node_asm_norm_f1;
                 unsigned int nb_norm_bp1;
                 unsigned int nb_norm_bp2;
                 unsigned int nb_norm_asm;
                 unsigned int nb_sbm_bp1;
                 unsigned int nb_sbm_bp2;
                 nb_norm_bp1 = 0;
                 nb_norm_bp2 = 0;
                 nb_norm_asm = 0;
                 nb_sbm_bp1  = 0;
                 nb_sbm_bp2  = 0;
                 reset_nb_sm_f1( lfrRequestedMode );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 ASM_generic_init_ring( asm_ring_norm_f1, NB_RING_NODES_ASM_NORM_F1 );
                 ASM_generic_init_ring( asm_ring_burst_sbm_f1, NB_RING_NODES_ASM_BURST_SBM_F1 );
                 current_ring_node_asm_norm_f1      = asm_ring_norm_f1;
                 current_ring_node_asm_burst_sbm_f1 = asm_ring_burst_sbm_f1;
                 BOOT_PRINTF1("in AVF1 *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 status = get_message_queue_id_prc1( &queue_id_prc1 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in AVF1 *** ERR get_message_queue_id_prc1 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     //****************************************
                     // initialize the mesage for the MATR task
                     msgForMATR.norm       = current_ring_node_asm_norm_f1;
                     msgForMATR.burst_sbm  = current_ring_node_asm_burst_sbm_f1;
                     msgForMATR.event      = 0x00;  // this composite event will be sent to the PRC1 task
                     //
                     //****************************************
                     nodeForAveraging = getRingNodeForAveraging( 1 );
                     ring_node_tab[NB_SM_BEFORE_AVF1-1] = nodeForAveraging;
                     for ( i = 2; i < (NB_SM_BEFORE_AVF1+1); i++ )
                     {
                         nodeForAveraging = nodeForAveraging->previous;
                         ring_node_tab[NB_SM_BEFORE_AVF1-i] = nodeForAveraging;
                     }
                     // compute the average and store it in the averaged_sm_f1 buffer
                     SM_average( current_ring_node_asm_norm_f1->matrix,
                                 current_ring_node_asm_burst_sbm_f1->matrix,
                                 ring_node_tab,
                                 nb_norm_bp1, nb_sbm_bp1,
                                 &msgForMATR );
                     // update nb_average
                     nb_norm_bp1 = nb_norm_bp1 + NB_SM_BEFORE_AVF1;
                     nb_norm_bp2 = nb_norm_bp2 + NB_SM_BEFORE_AVF1;
                     nb_norm_asm = nb_norm_asm + NB_SM_BEFORE_AVF1;
                     nb_sbm_bp1  = nb_sbm_bp1  + NB_SM_BEFORE_AVF1;
                     nb_sbm_bp2  = nb_sbm_bp2  + NB_SM_BEFORE_AVF1;
                     if (nb_sbm_bp1 == nb_sm_before_f1.burst_sbm_bp1)
                     {
                         nb_sbm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_burst_sbm_f1 = current_ring_node_asm_burst_sbm_f1->next;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_BP1_F1;
                         }
                         else if ( lfrCurrentMode == LFR_MODE_SBM2 )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_SBM_BP1_F1;
                         }
                     }
                     if (nb_sbm_bp2 == nb_sm_before_f1.burst_sbm_bp2)
                     {
                         nb_sbm_bp2 = 0;
                         if ( lfrCurrentMode == LFR_MODE_BURST )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_BURST_BP2_F1;
                         }
                         else if ( lfrCurrentMode == LFR_MODE_SBM2 )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_SBM_BP2_F1;
                         }
                     }
                     if (nb_norm_bp1 == nb_sm_before_f1.norm_bp1)
                     {
                         nb_norm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f1 = current_ring_node_asm_norm_f1->next;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP1_F1;
                         }
                     }
                     if (nb_norm_bp2 == nb_sm_before_f1.norm_bp2)
                     {
                         nb_norm_bp2 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP2_F1;
                         }
                     }
                     if (nb_norm_asm == nb_sm_before_f1.norm_asm)
                     {
                         nb_norm_asm = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                              || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_ASM_F1;
                         }
                     }
                     //*************************
                     // send the message to MATR
                     if (msgForMATR.event != 0x00)
                     {
                         status =  rtems_message_queue_send( queue_id_prc1, (char *) &msgForMATR, MSG_QUEUE_SIZE_PRC1);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in AVF1 *** Error sending message to PRC1, code %d\n", status);
                     }
                 }
             }
             rtems_task prc1_task( rtems_task_argument lfrRequestedMode )
             {
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 size_t size;                             // size of the incoming TC packet
                 asm_msg *incomingMsg;
                 //
                 unsigned char sid;
                 rtems_status_code status;
                 rtems_id queue_id_send;
                 rtems_id queue_id_q_p1;
                 bp_packet_with_spare    packet_norm_bp1;
                 bp_packet               packet_norm_bp2;
                 bp_packet               packet_sbm_bp1;
                 bp_packet               packet_sbm_bp2;
                 ring_node               *current_ring_node_to_send_asm_f1;
                 unsigned long long int localTime;
                 // init the ring of the averaged spectral matrices which will be transmitted to the DPU
                 init_ring( ring_to_send_asm_f1, NB_RING_NODES_ASM_F1, (volatile int*) buffer_asm_f1, TOTAL_SIZE_SM );
                 current_ring_node_to_send_asm_f1 = ring_to_send_asm_f1;
                 //*************
                 // NORM headers
                 BP_init_header_with_spare( &packet_norm_bp1,
                                            APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F1,
                                            PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F1, NB_BINS_COMPRESSED_SM_F1 );
                 BP_init_header( &packet_norm_bp2,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F1,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F1, NB_BINS_COMPRESSED_SM_F1);
                 //***********************
                 // BURST and SBM2 headers
                 if ( lfrRequestedMode == LFR_MODE_BURST )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP1_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_NORMAL_BURST, SID_BURST_BP2_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                 }
                 else if ( lfrRequestedMode == LFR_MODE_SBM2 )
                 {
                     BP_init_header( &packet_sbm_bp1,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP1_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                     BP_init_header( &packet_sbm_bp2,
                                     APID_TM_SCIENCE_SBM1_SBM2, SID_SBM2_BP2_F1,
                                     PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1, NB_BINS_COMPRESSED_SM_SBM_F1);
                 }
                 else
                 {
                     PRINTF1("in PRC1 *** lfrRequestedMode is %d, several headers not initialized\n", (unsigned int) lfrRequestedMode)
                 }
                 status = get_message_queue_id_send( &queue_id_send );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 status = get_message_queue_id_prc1( &queue_id_q_p1);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC1 *** ERR get_message_queue_id_prc1 %d\n", status)
                 }
                 BOOT_PRINTF1("in PRC1 *** lfrRequestedMode = %d\n", (int) lfrRequestedMode)
                 while(1){
                     status = rtems_message_queue_receive( queue_id_q_p1, incomingData, &size, //************************************
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );      // wait for a message coming from AVF0
                     incomingMsg = (asm_msg*) incomingData;
                     ASM_patch( incomingMsg->norm->matrix,      asm_f1_patched_norm      );
                     ASM_patch( incomingMsg->burst_sbm->matrix, asm_f1_patched_burst_sbm );
                     localTime = getTimeAsUnsignedLongLongInt( );
                     //***********
                     //***********
                     // BURST SBM2
                     //***********
                     //***********
                     if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP1_F1) || (incomingMsg->event & RTEMS_EVENT_SBM_BP1_F1) )
                     {
                         sid = getSID( incomingMsg->event );
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide( asm_f1_patched_burst_sbm, compressed_sm_sbm_f1,
                                                      nb_sm_before_f1.burst_sbm_bp1,
                                                      NB_BINS_COMPRESSED_SM_SBM_F1, NB_BINS_TO_AVERAGE_ASM_SBM_F1,
                                                      ASM_F1_INDICE_START);
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_sbm_f1, k_coeff_intercalib_f1_sbm, NB_BINS_COMPRESSED_SM_SBM_F1, packet_sbm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_sbm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                         set_time( packet_sbm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                         packet_sbm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_sbm_bp1, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP1_F1 + PACKET_LENGTH_DELTA,
                                  sid );
                         // 4) compute the BP2 set if needed
                         if ( (incomingMsg->event & RTEMS_EVENT_BURST_BP2_F1) || (incomingMsg->event & RTEMS_EVENT_SBM_BP2_F1) )
                         {
                             // 1) compute the BP2 set
                             BP2_set( compressed_sm_sbm_f1, NB_BINS_COMPRESSED_SM_SBM_F1, packet_norm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_sbm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeSBM );
                             set_time( packet_sbm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeSBM );
                             packet_sbm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send( (char *) &packet_sbm_bp2, queue_id_send,
                                      PACKET_LENGTH_TM_LFR_SCIENCE_SBM_BP2_F1 + PACKET_LENGTH_DELTA,
                                      sid );
                         }
                     }
                     //*****
                     //*****
                     // NORM
                     //*****
                     //*****
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F1)
                     {
                         // 1)  compress the matrix for Basic Parameters calculation
                         ASM_compress_reorganize_and_divide( asm_f1_patched_norm, compressed_sm_norm_f1,
                                                      nb_sm_before_f1.norm_bp1,
                                                      NB_BINS_COMPRESSED_SM_F1, NB_BINS_TO_AVERAGE_ASM_F1,
                                                      ASM_F1_INDICE_START );
                         // 2) compute the BP1 set
                         BP1_set( compressed_sm_norm_f1, k_coeff_intercalib_f1_norm, NB_BINS_COMPRESSED_SM_F1, packet_norm_bp1.data );
                         // 3) send the BP1 set
                         set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp1, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F1 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP1_F1 );
                         if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F1)
                         {
                             // 1) compute the BP2 set
                             BP2_set( compressed_sm_norm_f1, NB_BINS_COMPRESSED_SM_F1, packet_norm_bp2.data );
                             // 2) send the BP2 set
                             set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                             set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                             packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                             BP_send( (char *) &packet_norm_bp2, queue_id_send,
                                      PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F1 + PACKET_LENGTH_DELTA,
                                      SID_NORM_BP2_F1 );
                         }
                     }
                     if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F1)
                     {
                         // 1) reorganize the ASM and divide
                         ASM_reorganize_and_divide( asm_f1_patched_norm,
                                                    (float*) current_ring_node_to_send_asm_f1->buffer_address,
                                                    nb_sm_before_f1.norm_bp1 );
                         current_ring_node_to_send_asm_f1->coarseTime    = incomingMsg->coarseTimeNORM;
                         current_ring_node_to_send_asm_f1->fineTime      = incomingMsg->fineTimeNORM;
                         current_ring_node_to_send_asm_f1->sid           = SID_NORM_ASM_F1;
                         // 3) send the spectral matrix packets
                         status =  rtems_message_queue_send( queue_id_send, &current_ring_node_to_send_asm_f1, sizeof( ring_node* ) );
                         // change asm ring node
                         current_ring_node_to_send_asm_f1 = current_ring_node_to_send_asm_f1->next;
                     }
+                    update_queue_max_count( queue_id_q_p1, &hk_lfr_q_p1_fifo_size_max );
                 }
             }
             //**********
             // FUNCTIONS
             void reset_nb_sm_f1( unsigned char lfrMode )
             {
                 nb_sm_before_f1.norm_bp1  = parameter_dump_packet.sy_lfr_n_bp_p0 * 16;
                 nb_sm_before_f1.norm_bp2  = parameter_dump_packet.sy_lfr_n_bp_p1 * 16;
                 nb_sm_before_f1.norm_asm  = (parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1]) * 16;
                 nb_sm_before_f1.sbm2_bp1  =  parameter_dump_packet.sy_lfr_s2_bp_p0 * 16;
                 nb_sm_before_f1.sbm2_bp2  =  parameter_dump_packet.sy_lfr_s2_bp_p1 * 16;
                 nb_sm_before_f1.burst_bp1 =  parameter_dump_packet.sy_lfr_b_bp_p0 * 16;
                 nb_sm_before_f1.burst_bp2 =  parameter_dump_packet.sy_lfr_b_bp_p1 * 16;
                 if (lfrMode == LFR_MODE_SBM2)
                 {
                     nb_sm_before_f1.burst_sbm_bp1 =  nb_sm_before_f1.sbm2_bp1;
                     nb_sm_before_f1.burst_sbm_bp2 =  nb_sm_before_f1.sbm2_bp2;
                 }
                 else if (lfrMode == LFR_MODE_BURST)
                 {
                     nb_sm_before_f1.burst_sbm_bp1 =  nb_sm_before_f1.burst_bp1;
                     nb_sm_before_f1.burst_sbm_bp2 =  nb_sm_before_f1.burst_bp2;
                 }
                 else
                 {
                     nb_sm_before_f1.burst_sbm_bp1 =  nb_sm_before_f1.burst_bp1;
                     nb_sm_before_f1.burst_sbm_bp2 =  nb_sm_before_f1.burst_bp2;
                 }
             }
             void init_k_coefficients_f1( void )
             {
                 init_k_coefficients( k_coeff_intercalib_f1_norm, NB_BINS_COMPRESSED_SM_F1    );
                 init_k_coefficients( k_coeff_intercalib_f1_sbm,  NB_BINS_COMPRESSED_SM_SBM_F1);
             }

src/processing/avf2_prc2.c +2 0

             /** 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 "avf2_prc2.h"
             nb_sm_before_bp_asm_f2 nb_sm_before_f2;
             extern ring_node sm_ring_f2[ ];
             //***
             // F2
             ring_node_asm asm_ring_norm_f2     [ NB_RING_NODES_ASM_NORM_F2      ];
             ring_node ring_to_send_asm_f2      [ NB_RING_NODES_ASM_F2 ];
             int buffer_asm_f2                  [ NB_RING_NODES_ASM_F2 * TOTAL_SIZE_SM ];
             float asm_f2_patched_norm   [ TOTAL_SIZE_SM ];
             float asm_f2_reorganized    [ TOTAL_SIZE_SM ];
             char  asm_f2_char          [ TOTAL_SIZE_SM * 2 ];
             float compressed_sm_norm_f2[ TOTAL_SIZE_COMPRESSED_ASM_NORM_F2];
             float k_coeff_intercalib_f2[ NB_BINS_COMPRESSED_SM_F2 * NB_K_COEFF_PER_BIN ];   // 12 * 32 = 384
             //************
             // RTEMS TASKS
             //***
             // F2
             rtems_task avf2_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 rtems_id queue_id_prc2;
                 asm_msg msgForMATR;
                 ring_node *nodeForAveraging;
                 ring_node_asm *current_ring_node_asm_norm_f2;
                 unsigned int nb_norm_bp1;
                 unsigned int nb_norm_bp2;
                 unsigned int nb_norm_asm;
                 nb_norm_bp1 = 0;
                 nb_norm_bp2 = 0;
                 nb_norm_asm = 0;
                 reset_nb_sm_f2( );   // reset the sm counters that drive the BP and ASM computations / transmissions
                 ASM_generic_init_ring( asm_ring_norm_f2, NB_RING_NODES_ASM_NORM_F2 );
                 current_ring_node_asm_norm_f2 = asm_ring_norm_f2;
                 BOOT_PRINTF("in AVF2 ***\n")
                 status = get_message_queue_id_prc2( &queue_id_prc2 );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in AVF2 *** ERR get_message_queue_id_prc2 %d\n", status)
                 }
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT0
                     //****************************************
                     // initialize the mesage for the MATR task
                     msgForMATR.norm       = current_ring_node_asm_norm_f2;
                     msgForMATR.burst_sbm  = NULL;
                     msgForMATR.event      = 0x00;  // this composite event will be sent to the PRC2 task
                     //
                     //****************************************
                     nodeForAveraging = getRingNodeForAveraging( 2 );
             //        printf(" **0** %x . %x", sm_ring_f2[0].coarseTime, sm_ring_f2[0].fineTime);
             //        printf(" **1** %x . %x", sm_ring_f2[1].coarseTime, sm_ring_f2[1].fineTime);
             //        printf(" **2** %x . %x", sm_ring_f2[2].coarseTime, sm_ring_f2[2].fineTime);
             //        printf(" **3** %x . %x", sm_ring_f2[3].coarseTime, sm_ring_f2[3].fineTime);
             //        printf(" **4** %x . %x", sm_ring_f2[4].coarseTime, sm_ring_f2[4].fineTime);
             //        printf(" **5** %x . %x", sm_ring_f2[5].coarseTime, sm_ring_f2[5].fineTime);
             //        printf(" **6** %x . %x", sm_ring_f2[6].coarseTime, sm_ring_f2[6].fineTime);
             //        printf(" **7** %x . %x", sm_ring_f2[7].coarseTime, sm_ring_f2[7].fineTime);
             //        printf(" **8** %x . %x", sm_ring_f2[8].coarseTime, sm_ring_f2[8].fineTime);
             //        printf(" **9** %x . %x", sm_ring_f2[9].coarseTime, sm_ring_f2[9].fineTime);
             //        printf(" **10** %x . %x\n", sm_ring_f2[10].coarseTime, sm_ring_f2[10].fineTime);
                     // compute the average and store it in the averaged_sm_f2 buffer
                     SM_average_f2( current_ring_node_asm_norm_f2->matrix,
                                    nodeForAveraging,
                                    nb_norm_bp1,
                                    &msgForMATR );
                     // update nb_average
                     nb_norm_bp1 = nb_norm_bp1 + NB_SM_BEFORE_AVF2;
                     nb_norm_bp2 = nb_norm_bp2 + NB_SM_BEFORE_AVF2;
                     nb_norm_asm = nb_norm_asm + NB_SM_BEFORE_AVF2;
                     if (nb_norm_bp1 == nb_sm_before_f2.norm_bp1)
                     {
                         nb_norm_bp1 = 0;
                         // set another ring for the ASM storage
                         current_ring_node_asm_norm_f2 = current_ring_node_asm_norm_f2->next;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_SBM1)
                              || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP1_F2;
                         }
                     }
                     if (nb_norm_bp2 == nb_sm_before_f2.norm_bp2)
                     {
                         nb_norm_bp2 = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_SBM1)
                              || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_BP2_F2;
                         }
                     }
                     if (nb_norm_asm == nb_sm_before_f2.norm_asm)
                     {
                         nb_norm_asm = 0;
                         if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_SBM1)
                              || (lfrCurrentMode == LFR_MODE_SBM2) )
                         {
                             msgForMATR.event = msgForMATR.event | RTEMS_EVENT_NORM_ASM_F2;
                         }
                     }
                     //*************************
                     // send the message to MATR
                     if (msgForMATR.event != 0x00)
                     {
                         status =  rtems_message_queue_send( queue_id_prc2, (char *) &msgForMATR, MSG_QUEUE_SIZE_PRC2);
                     }
                     if (status != RTEMS_SUCCESSFUL) {
                         printf("in AVF2 *** Error sending message to MATR, code %d\n", status);
                     }
                 }
             }
             rtems_task prc2_task( rtems_task_argument argument )
             {
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 size_t size;                            // size of the incoming TC packet
                 asm_msg *incomingMsg;
                 //
                 rtems_status_code status;
                 rtems_id queue_id_send;
                 rtems_id queue_id_q_p2;
                 bp_packet                   packet_norm_bp1;
                 bp_packet                   packet_norm_bp2;
                 ring_node                   *current_ring_node_to_send_asm_f2;
                 unsigned long long int localTime;
                 // init the ring of the averaged spectral matrices which will be transmitted to the DPU
                 init_ring( ring_to_send_asm_f2, NB_RING_NODES_ASM_F2, (volatile int*) buffer_asm_f2, TOTAL_SIZE_SM );
                 current_ring_node_to_send_asm_f2 = ring_to_send_asm_f2;
                 //*************
                 // NORM headers
                 BP_init_header( &packet_norm_bp1,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP1_F2,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F2, NB_BINS_COMPRESSED_SM_F2 );
                 BP_init_header( &packet_norm_bp2,
                                 APID_TM_SCIENCE_NORMAL_BURST, SID_NORM_BP2_F2,
                                 PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F2, NB_BINS_COMPRESSED_SM_F2 );
                 status =  get_message_queue_id_send( &queue_id_send );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 status = get_message_queue_id_prc2( &queue_id_q_p2);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in PRC2 *** ERR get_message_queue_id_prc2 %d\n", status)
                 }
                 BOOT_PRINTF("in PRC2 ***\n")
                 while(1){
                     status = rtems_message_queue_receive( queue_id_q_p2, incomingData, &size, //************************************
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );      // wait for a message coming from AVF2
                     incomingMsg = (asm_msg*) incomingData;
                     ASM_patch( incomingMsg->norm->matrix, asm_f2_patched_norm );
                     localTime = getTimeAsUnsignedLongLongInt( );
                     //*****
                     //*****
                     // NORM
                     //*****
                     //*****
                     // 1)  compress the matrix for Basic Parameters calculation
                     ASM_compress_reorganize_and_divide( asm_f2_patched_norm, compressed_sm_norm_f2,
                                                  nb_sm_before_f2.norm_bp1,
                                                  NB_BINS_COMPRESSED_SM_F2, NB_BINS_TO_AVERAGE_ASM_F2,
                                                  ASM_F2_INDICE_START );
                     // BP1_F2
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP1_F2)
                     {
                         // 1) compute the BP1 set
                         BP1_set( compressed_sm_norm_f2, k_coeff_intercalib_f2, NB_BINS_COMPRESSED_SM_F2, packet_norm_bp1.data );
                         // 2) send the BP1 set
                         set_time( packet_norm_bp1.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp1.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp1.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp1, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP1_F2 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP1_F2 );
                     }
                     // BP2_F2
                     if (incomingMsg->event & RTEMS_EVENT_NORM_BP2_F2)
                     {
                         // 1) compute the BP2 set
                         BP2_set( compressed_sm_norm_f2, NB_BINS_COMPRESSED_SM_F2, packet_norm_bp2.data );
                         // 2) send the BP2 set
                         set_time( packet_norm_bp2.time,            (unsigned char *) &incomingMsg->coarseTimeNORM );
                         set_time( packet_norm_bp2.acquisitionTime, (unsigned char *) &incomingMsg->coarseTimeNORM );
                         packet_norm_bp2.sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                         BP_send( (char *) &packet_norm_bp2, queue_id_send,
                                  PACKET_LENGTH_TM_LFR_SCIENCE_NORM_BP2_F2 + PACKET_LENGTH_DELTA,
                                  SID_NORM_BP2_F2 );
                     }
                     if (incomingMsg->event & RTEMS_EVENT_NORM_ASM_F2)
                     {
                         // 1) reorganize the ASM and divide
                         ASM_reorganize_and_divide( asm_f2_patched_norm,
                                                    (float*) current_ring_node_to_send_asm_f2->buffer_address,
                                                    nb_sm_before_f2.norm_bp1 );
                         current_ring_node_to_send_asm_f2->coarseTime    = incomingMsg->coarseTimeNORM;
                         current_ring_node_to_send_asm_f2->fineTime      = incomingMsg->fineTimeNORM;
                         current_ring_node_to_send_asm_f2->sid           = SID_NORM_ASM_F2;
                         // 3) send the spectral matrix packets
                         status =  rtems_message_queue_send( queue_id_send, &current_ring_node_to_send_asm_f2, sizeof( ring_node* ) );
                         // change asm ring node
                         current_ring_node_to_send_asm_f2 = current_ring_node_to_send_asm_f2->next;
                     }
+                    update_queue_max_count( queue_id_q_p2, &hk_lfr_q_p2_fifo_size_max );
                 }
             }
             //**********
             // FUNCTIONS
             void reset_nb_sm_f2( void )
             {
                 nb_sm_before_f2.norm_bp1  = parameter_dump_packet.sy_lfr_n_bp_p0;
                 nb_sm_before_f2.norm_bp2  = parameter_dump_packet.sy_lfr_n_bp_p1;
                 nb_sm_before_f2.norm_asm  = parameter_dump_packet.sy_lfr_n_asm_p[0] * 256 + parameter_dump_packet.sy_lfr_n_asm_p[1];
             }
             void SM_average_f2( float *averaged_spec_mat_f2,
                                 ring_node *ring_node,
                                 unsigned int nbAverageNormF2,
                                 asm_msg *msgForMATR )
             {
                 float sum;
                 unsigned int i;
                 for(i=0; i<TOTAL_SIZE_SM; i++)
                 {
                     sum = ( (int *) (ring_node->buffer_address) ) [ i ];
                     if ( (nbAverageNormF2 == 0) )
                     {
                         averaged_spec_mat_f2[ i ] = sum;
                         msgForMATR->coarseTimeNORM  = ring_node->coarseTime;
                         msgForMATR->fineTimeNORM    = ring_node->fineTime;
                     }
                     else
                     {
                         averaged_spec_mat_f2[ i ] = ( averaged_spec_mat_f2[  i ] + sum );
                     }
                 }
             }
             void init_k_coefficients_f2( void )
             {
                 init_k_coefficients( k_coeff_intercalib_f2, NB_BINS_COMPRESSED_SM_F2);
             }

src/processing/fsw_processing.c +1 0

             /** 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"
+            #include "fsw_init.h"
             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_ring_f0[ NB_RING_NODES_SM_F0 ];
             ring_node sm_ring_f1[ NB_RING_NODES_SM_F1 ];
             ring_node sm_ring_f2[ NB_RING_NODES_SM_F2 ];
             ring_node *current_ring_node_sm_f0;
             ring_node *current_ring_node_sm_f1;
             ring_node *current_ring_node_sm_f2;
             ring_node *ring_node_for_averaging_sm_f0;
             ring_node *ring_node_for_averaging_sm_f1;
             ring_node *ring_node_for_averaging_sm_f2;
             //
             ring_node * getRingNodeForAveraging( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 0:
                     node = ring_node_for_averaging_sm_f0;
                     break;
                 case 1:
                     node = ring_node_for_averaging_sm_f1;
                     break;
                 case 2:
                     node = ring_node_for_averaging_sm_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             void spectral_matrices_isr_f0( unsigned char statusReg )
             {
                 unsigned char status;
                 rtems_status_code status_code;
                 ring_node *full_ring_node;
                 status = statusReg & 0x03;   // [0011] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0x03;   // [0011]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     full_ring_node = current_ring_node_sm_f0->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f0_0_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f0_0_fine_time;
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f0 = nb_sm_f0 + 1;
                     if (nb_sm_f0 == NB_SM_BEFORE_AVF0)
                     {
                         ring_node_for_averaging_sm_f0 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f0 = 0;
                     }
                     spectral_matrix_regs->status = 0x01;   // [0000 0001]
                     break;
                 case 2:
                     full_ring_node = current_ring_node_sm_f0->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f0_1_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f0_1_fine_time;
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f0 = nb_sm_f0 + 1;
                     if (nb_sm_f0 == NB_SM_BEFORE_AVF0)
                     {
                         ring_node_for_averaging_sm_f0 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f0 = 0;
                     }
                     spectral_matrix_regs->status = 0x02;   // [0000 0010]
                     break;
                 }
             }
             void spectral_matrices_isr_f1( unsigned char statusReg )
             {
                 rtems_status_code status_code;
                 unsigned char status;
                 ring_node *full_ring_node;
                 status = (statusReg & 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]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     full_ring_node = current_ring_node_sm_f1->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f1_0_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f1_0_fine_time;
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_0_address = current_ring_node_sm_f1->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f1 = nb_sm_f1 + 1;
                     if (nb_sm_f1 == NB_SM_BEFORE_AVF1)
                     {
                         ring_node_for_averaging_sm_f1 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f1 = 0;
                     }
                     spectral_matrix_regs->status = 0x04;   // [0000 0100]
                     break;
                 case 2:
                     full_ring_node = current_ring_node_sm_f1->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f1_1_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f1_1_fine_time;
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_1_address = current_ring_node_sm_f1->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f1 = nb_sm_f1 + 1;
                     if (nb_sm_f1 == NB_SM_BEFORE_AVF1)
                     {
                         ring_node_for_averaging_sm_f1 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f1 = 0;
                     }
                     spectral_matrix_regs->status = 0x08;   // [1000 0000]
                     break;
                 }
             }
             void spectral_matrices_isr_f2( unsigned char statusReg )
             {
                 unsigned char status;
                 rtems_status_code status_code;
                 status = (statusReg & 0x30) >> 4;   // [0011 0000] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0x30;   // [0011 0000]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2->previous;
                     current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                     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)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 case 2:
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2->previous;
                     current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                     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)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 }
             }
             void spectral_matrix_isr_error_handler( unsigned char statusReg )
             {
                 rtems_status_code status_code;
                 if (statusReg & 0x7c0)    // [0111 1100 0000]
                 {
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                 }
                 spectral_matrix_regs->status = spectral_matrix_regs->status & 0x7c0;
             }
             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
                 unsigned char statusReg;
                 statusReg = spectral_matrix_regs->status;
                 spectral_matrices_isr_f0( statusReg );
                 spectral_matrices_isr_f1( statusReg );
                 spectral_matrices_isr_f2( statusReg );
                 spectral_matrix_isr_error_handler( statusReg );
             }
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
             {
                 rtems_status_code status_code;
                 //***
                 // 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)
                     {
                         status_code = 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)
                     {
                         status_code = 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)
                     {
                         status_code = 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 )
             {
                 init_ring( sm_ring_f0, NB_RING_NODES_SM_F0, sm_f0, TOTAL_SIZE_SM );
                 init_ring( sm_ring_f1, NB_RING_NODES_SM_F1, sm_f1, TOTAL_SIZE_SM );
                 init_ring( sm_ring_f2, NB_RING_NODES_SM_F2, sm_f2, TOTAL_SIZE_SM );
                 DEBUG_PRINTF1("sm_ring_f0 @%x\n", (unsigned int) sm_ring_f0)
                 DEBUG_PRINTF1("sm_ring_f1 @%x\n", (unsigned int) sm_ring_f1)
                 DEBUG_PRINTF1("sm_ring_f2 @%x\n", (unsigned int) sm_ring_f2)
                 DEBUG_PRINTF1("sm_f0 @%x\n", (unsigned int) sm_f0)
                 DEBUG_PRINTF1("sm_f1 @%x\n", (unsigned int) sm_f1)
                 DEBUG_PRINTF1("sm_f2 @%x\n", (unsigned int) sm_f2)
             }
             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 = NULL;
                 ring_node_for_averaging_sm_f1 = NULL;
                 ring_node_for_averaging_sm_f2 = NULL;
             }
             //*****************
             // Basic Parameters
             void BP_init_header( bp_packet *packet,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength, unsigned char blkNr )
             {
                 packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 packet->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 packet->reserved = 0x00;
                 packet->userApplication = CCSDS_USER_APP;
                 packet->packetID[0] = (unsigned char) (apid >> 8);
                 packet->packetID[1] = (unsigned char) (apid);
                 packet->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 packet->packetSequenceControl[1] = 0x00;
                 packet->packetLength[0] = (unsigned char) (packetLength >> 8);
                 packet->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 packet->spare1_pusVersion_spare2 = 0x10;
                 packet->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 packet->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 packet->destinationID = TM_DESTINATION_ID_GROUND;
                 packet->time[0] = 0x00;
                 packet->time[1] = 0x00;
                 packet->time[2] = 0x00;
                 packet->time[3] = 0x00;
                 packet->time[4] = 0x00;
                 packet->time[5] = 0x00;
                 // AUXILIARY DATA HEADER
                 packet->sid = sid;
                 packet->biaStatusInfo = 0x00;
                 packet->acquisitionTime[0] = 0x00;
                 packet->acquisitionTime[1] = 0x00;
                 packet->acquisitionTime[2] = 0x00;
                 packet->acquisitionTime[3] = 0x00;
                 packet->acquisitionTime[4] = 0x00;
                 packet->acquisitionTime[5] = 0x00;
                 packet->pa_lfr_bp_blk_nr[0] = 0x00;  // BLK_NR MSB
                 packet->pa_lfr_bp_blk_nr[1] = blkNr;  // BLK_NR LSB
             }
             void BP_init_header_with_spare( bp_packet_with_spare *packet,
                                             unsigned int apid, unsigned char sid,
                                             unsigned int packetLength , unsigned char blkNr)
             {
                 packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 packet->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 packet->reserved = 0x00;
                 packet->userApplication = CCSDS_USER_APP;
                 packet->packetID[0] = (unsigned char) (apid >> 8);
                 packet->packetID[1] = (unsigned char) (apid);
                 packet->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 packet->packetSequenceControl[1] = 0x00;
                 packet->packetLength[0] = (unsigned char) (packetLength >> 8);
                 packet->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 packet->spare1_pusVersion_spare2 = 0x10;
                 packet->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 packet->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 packet->destinationID = TM_DESTINATION_ID_GROUND;
                 // AUXILIARY DATA HEADER
                 packet->sid = sid;
                 packet->biaStatusInfo = 0x00;
                 packet->time[0] = 0x00;
                 packet->time[0] = 0x00;
                 packet->time[0] = 0x00;
                 packet->time[0] = 0x00;
                 packet->time[0] = 0x00;
                 packet->time[0] = 0x00;
                 packet->source_data_spare = 0x00;
                 packet->pa_lfr_bp_blk_nr[0] = 0x00;  // BLK_NR MSB
                 packet->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_sm_status( void )
             {
                 // error
                 // 10 --------------- 9 ---------------- 8 ---------------- 7 ---------
                 // input_fif0_write_2 input_fifo_write_1 input_fifo_write_0 buffer_full
                 // ---------- 5 -- 4 -- 3 -- 2 -- 1 -- 0 --
                 // ready bits f2_1 f2_0 f1_1 f1_1 f0_1 f0_0
                 spectral_matrix_regs->status = 0x7ff;   // [0111 1111 1111]
             }
             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
                  *
                  */
                 set_sm_irq_onError( 0 );
                 set_sm_irq_onNewMatrix( 0 );
                 reset_sm_status();
                 // F1
                 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;
                 // F2
                 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;
                 // F3
                 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;
                 spectral_matrix_regs->matrix_length = 0xc8; // 25 * 128 / 16 = 200 = 0xc8
             }
             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;
             }
             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;
             }
             void extractReImVectors( float *inputASM, float *outputASM, unsigned int asmComponent )
             {
                 unsigned int i;
                 float re;
                 float im;
                 for (i=0; i<NB_BINS_PER_SM; i++){
                     re = inputASM[ (asmComponent*NB_BINS_PER_SM) + i * 2    ];
                     im = inputASM[ (asmComponent*NB_BINS_PER_SM) + i * 2 + 1];
                     outputASM[ (asmComponent   *NB_BINS_PER_SM)  +  i] = re;
                     outputASM[ (asmComponent+1)*NB_BINS_PER_SM   +  i] = im;
                 }
             }
             void copyReVectors( float *inputASM, float *outputASM, unsigned int asmComponent )
             {
                 unsigned int i;
                 float re;
                 for (i=0; i<NB_BINS_PER_SM; i++){
                     re = inputASM[ (asmComponent*NB_BINS_PER_SM) + i];
                     outputASM[ (asmComponent*NB_BINS_PER_SM)  +  i] = re;
                 }
             }
             void ASM_patch( float *inputASM, float *outputASM )
             {
                 extractReImVectors( inputASM, outputASM, 1);    // b1b2
                 extractReImVectors( inputASM, outputASM, 3 );   // b1b3
                 extractReImVectors( inputASM, outputASM, 5 );   // b1e1
                 extractReImVectors( inputASM, outputASM, 7 );   // b1e2
                 extractReImVectors( inputASM, outputASM, 10 );  // b2b3
                 extractReImVectors( inputASM, outputASM, 12 );  // b2e1
                 extractReImVectors( inputASM, outputASM, 14 );  // b2e2
                 extractReImVectors( inputASM, outputASM, 17 );  // b3e1
                 extractReImVectors( inputASM, outputASM, 19 );  // b3e2
                 extractReImVectors( inputASM, outputASM, 22 );  // e1e2
                 copyReVectors(inputASM, outputASM, 0 );    // b1b1
                 copyReVectors(inputASM, outputASM, 9 );    // b2b2
                 copyReVectors(inputASM, outputASM, 16);    // b3b3
                 copyReVectors(inputASM, outputASM, 21);    // e1e1
                 copyReVectors(inputASM, outputASM, 24);    // e2e2
             }
             void ASM_compress_reorganize_and_divide_mask(float *averaged_spec_mat, float *compressed_spec_mat , float divider,
                                              unsigned char nbBinsCompressedMatrix, unsigned char nbBinsToAverage, unsigned char ASMIndexStart )
             {
                 //*************
                 // input format
                 // component0[0 .. 127] component1[0 .. 127] .. component24[0 .. 127]
                 //**************
                 // output format
                 // matr0[0 .. 24]      matr1[0 .. 24]       .. matr127[0 .. 24]
                 //************
                 // compression
                 // matr0[0 .. 24]      matr1[0 .. 24]       .. matr11[0 .. 24] => f0 NORM
                 // matr0[0 .. 24]      matr1[0 .. 24]       .. matr22[0 .. 24] => f0 BURST, SBM
                 int frequencyBin;
                 int asmComponent;
                 int offsetASM;
                 int offsetCompressed;
                 int offsetFBin;
                 int fBinMask;
                 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;
                         offsetFBin = ASMIndexStart
                                 + frequencyBin * nbBinsToAverage;
                         compressed_spec_mat[ offsetCompressed ] = 0;
                         for ( k = 0; k < nbBinsToAverage; k++ )
                         {
                             fBinMask = getFBinMask( offsetFBin + k );
                             compressed_spec_mat[offsetCompressed ] =
                                     ( compressed_spec_mat[ offsetCompressed ]
                                     + averaged_spec_mat[ offsetASM + k ] * fBinMask );
                         }
                         compressed_spec_mat[ offsetCompressed ] =
                                 compressed_spec_mat[ offsetCompressed ] / (divider * nbBinsToAverage);
                     }
                 }
             }
             int getFBinMask( int index )
             {
                 unsigned int indexInChar;
                 unsigned int indexInTheChar;
                 int fbin;
                 indexInChar = index >> 3;
                 indexInTheChar = index - indexInChar * 8;
                 fbin = (int) ((parameter_dump_packet.sy_lfr_fbins_f0_word1[ NB_BYTES_PER_FREQ_MASK - 1 - indexInChar] >> indexInTheChar) & 0x1);
                 return fbin;
             }

src/tc_handler.c +50 -12

             /** Functions and tasks related to TeleCommand handling.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TeleCommands:\n
              * action launching\n
              * TC parsing\n
              * ...
              *
              */
             #include "tc_handler.h"
             #include "math.h"
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is responsible for launching actions upton the reception of valid TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The ACTN task waits for data coming from an RTEMS msesage queue. When data arrives, it launches specific actions depending
                  * on the incoming TeleCommand.
                  *
                  */
                 int result;
                 rtems_status_code status;       // RTEMS status code
                 ccsdsTelecommandPacket_t TC;    // TC sent to the ACTN task
                 size_t size;                    // size of the incoming TC packet
                 unsigned char subtype;          // subtype of the current TC packet
                 unsigned char time[6];
                 rtems_id queue_rcv_id;
                 rtems_id queue_snd_id;
                 status =  get_message_queue_id_recv( &queue_rcv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_snd_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in ACTN *** ERR get_message_queue_id_send %d\n", status)
                 }
                 result = LFR_SUCCESSFUL;
                 subtype = 0;          // subtype of the current TC packet
                 BOOT_PRINTF("in ACTN *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_rcv_id, (char*) &TC, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT);
                     getTime( time );    // set time to the current time
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("ERR *** in task ACTN *** error receiving a message, code %d \n", status)
                     }
                     else
                     {
                         subtype = TC.serviceSubType;
                         switch(subtype)
                         {
                         case TC_SUBTYPE_RESET:
                             result = action_reset( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_COMM:
                             result = action_load_common_par( &TC );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_NORM:
                             result = action_load_normal_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_BURST:
                             result = action_load_burst_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_SBM1:
                             result = action_load_sbm1_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_SBM2:
                             result = action_load_sbm2_par( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DUMP:
                             result = action_dump_par( queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_ENTER:
                             result = action_enter_mode( &TC, queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_UPDT_INFO:
                             result = action_update_info( &TC, queue_snd_id );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_EN_CAL:
                             result = action_enable_calibration( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DIS_CAL:
                             result = action_disable_calibration( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_K:
                             printf("TC_SUBTYPE_LOAD_K\n");
                             result = action_load_kcoefficients( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_DUMP_K:
                             result = action_dump_kcoefficients( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_LOAD_FBINS:
                             result = action_load_fbins_mask( &TC, queue_snd_id, time );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         case TC_SUBTYPE_UPDT_TIME:
                             result = action_update_time( &TC );
                             close_action( &TC, result, queue_snd_id );
                             break;
                         default:
                             break;
                         }
                     }
                 }
             }
             //***********
             // TC ACTIONS
             int action_reset(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_RESET TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 printf("this is the end!!!\n");
                 exit(0);
                 send_tm_lfr_tc_exe_not_implemented( TC, queue_id, time );
                 return LFR_DEFAULT;
             }
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function executes specific actions when a TC_LFR_ENTER_MODE TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 rtems_status_code status;
                 unsigned char requestedMode;
                 unsigned int *transitionCoarseTime_ptr;
                 unsigned int transitionCoarseTime;
                 unsigned char * bytePosPtr;
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 requestedMode = bytePosPtr[ BYTE_POS_CP_MODE_LFR_SET ];
                 transitionCoarseTime_ptr = (unsigned int *) ( &bytePosPtr[ BYTE_POS_CP_LFR_ENTER_MODE_TIME ] );
                 transitionCoarseTime = (*transitionCoarseTime_ptr) & 0x7fffffff;
                 status = check_mode_value( requestedMode );
                 if ( status != LFR_SUCCESSFUL )     // the mode value is inconsistent
                 {
                     send_tm_lfr_tc_exe_inconsistent( TC, queue_id, BYTE_POS_CP_MODE_LFR_SET, requestedMode );
                 }
                 else                                // the mode value is 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;
                 result = LFR_DEFAULT;
                 startCalibration();
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_disable_calibration(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function executes specific actions when a TC_LFR_DISABLE_CALIBRATION TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  */
                 int result;
                 result = LFR_DEFAULT;
                 stopCalibration();
                 result = LFR_SUCCESSFUL;
                 return result;
             }
             int action_update_time(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_TIME TeleCommand has been received.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM transmission by the SpaceWire driver
                  *
                  * @return LFR_SUCCESSFUL
                  *
                  */
                 unsigned int val;
                 time_management_regs->coarse_time_load = (TC->dataAndCRC[0] << 24)
                                                             + (TC->dataAndCRC[1] << 16)
                                                             + (TC->dataAndCRC[2] << 8)
                                                             + TC->dataAndCRC[3];
                 val = housekeeping_packet.hk_lfr_update_time_tc_cnt[0] * 256
                         + housekeeping_packet.hk_lfr_update_time_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_update_time_tc_cnt[1] = (unsigned char) (val);
                 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;
                     PRINTF2("localTime = %x, transitionTime = %x\n", localCoarseTime, transitionCoarseTime)
                     if ( transitionCoarseTime <= localCoarseTime )   // SSS-CP-EQS-322
                     {
                         status = LFR_DEFAULT;
                         PRINTF("ERR *** in check_transition_date *** transitionCoarseTime <= localCoarseTime\n")
                     }
                     if (status == LFR_SUCCESSFUL)
                     {
                         deltaCoarseTime = transitionCoarseTime - localCoarseTime;
                         if ( deltaCoarseTime > 3 )                  // SSS-CP-EQS-323
                         {
                             status = LFR_DEFAULT;
                             PRINTF1("ERR *** in check_transition_date *** deltaCoarseTime = %x\n", deltaCoarseTime)
                         }
                     }
                 }
                 return status;
             }
             int stop_current_mode( void )
             {
                 /** This function stops the current mode by masking interrupt lines and suspending science tasks.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task restarted successfully
                  * - RTEMS_INVALID_ID - task id invalid
                  * - RTEMS_ALREADY_SUSPENDED - task already suspended
                  *
                  */
                 rtems_status_code status;
                 status = RTEMS_SUCCESSFUL;
                 // (1) mask interruptions
                 LEON_Mask_interrupt( IRQ_WAVEFORM_PICKER );     // mask waveform picker interrupt
                 LEON_Mask_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // (2) reset waveform picker registers
                 reset_wfp_burst_enable();                       // reset burst and enable bits
                 reset_wfp_status();                             // reset all the status bits
                 // (3) reset spectral matrices registers
                 set_sm_irq_onNewMatrix( 0 );               // stop the spectral matrices
                 reset_sm_status();
                 // reset lfr VHDL module
                 reset_lfr();
                 reset_extractSWF();                             // reset the extractSWF flag to false
                 // (4) clear interruptions
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );    // clear waveform picker interrupt
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );    // clear spectral matrix interrupt
                 // <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 );
                     launch_spectral_matrix( );
                     launch_waveform_picker( mode, transitionCoarseTime );
             //        launch_spectral_matrix_simu( );
                 }
                 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 ret;
                 ret = RTEMS_SUCCESSFUL;
                 status[0] = rtems_task_restart( Task_id[TASKID_AVF0], lfrRequestedMode );
                 if (status[0] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF0 ERR %d\n", status[0])
                 }
                 status[1] = rtems_task_restart( Task_id[TASKID_PRC0], lfrRequestedMode );
                 if (status[1] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC0 ERR %d\n", status[1])
                 }
                 status[2] = rtems_task_restart( Task_id[TASKID_WFRM],1 );
                 if (status[2] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** WFRM ERR %d\n", status[2])
                 }
                 status[3] = rtems_task_restart( Task_id[TASKID_CWF3],1 );
                 if (status[3] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF3 ERR %d\n", status[3])
                 }
                 status[4] = rtems_task_restart( Task_id[TASKID_CWF2],1 );
                 if (status[4] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF2 ERR %d\n", status[4])
                 }
                 status[5] = rtems_task_restart( Task_id[TASKID_CWF1],1 );
                 if (status[5] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** CWF1 ERR %d\n", status[5])
                 }
                 status[6] = rtems_task_restart( Task_id[TASKID_AVF1], lfrRequestedMode );
                 if (status[6] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF1 ERR %d\n", status[6])
                 }
                 status[7] = rtems_task_restart( Task_id[TASKID_PRC1],lfrRequestedMode );
                 if (status[7] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC1 ERR %d\n", status[7])
                 }
                 status[8] = rtems_task_restart( Task_id[TASKID_AVF2], 1 );
                 if (status[8] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** AVF2 ERR %d\n", status[8])
                 }
                 status[9] = rtems_task_restart( Task_id[TASKID_PRC2], 1 );
                 if (status[9] != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in restart_science_task *** PRC2 ERR %d\n", status[9])
                 }
                 if ( (status[0] != RTEMS_SUCCESSFUL) || (status[1] != RTEMS_SUCCESSFUL) ||
                      (status[2] != RTEMS_SUCCESSFUL) || (status[3] != RTEMS_SUCCESSFUL) ||
                      (status[4] != RTEMS_SUCCESSFUL) || (status[5] != RTEMS_SUCCESSFUL) ||
                      (status[6] != RTEMS_SUCCESSFUL) || (status[7] != RTEMS_SUCCESSFUL) ||
                      (status[8] != RTEMS_SUCCESSFUL) || (status[9] != RTEMS_SUCCESSFUL) )
                 {
                     ret = RTEMS_UNSATISFIED;
                 }
                 return ret;
             }
             int 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;
                 printf("in suspend_science_tasks\n");
                 status = rtems_task_suspend( Task_id[TASKID_AVF0] );    // suspend AVF0
-                if (status != RTEMS_SUCCESSFUL)
+                if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                 {
                     PRINTF1("in suspend_science_task *** AVF0 ERR %d\n", status)
                 }
+                else
+                {
+                    status = RTEMS_SUCCESSFUL;
+                }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC0
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC0] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC0 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF1] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF1 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC1] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC1 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend AVF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_AVF2] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** AVF2 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend PRC2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_PRC2] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** PRC2 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend WFRM
                 {
                     status = rtems_task_suspend( Task_id[TASKID_WFRM] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** WFRM ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF3
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF3] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF3 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF2
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF2] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF2 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 if (status == RTEMS_SUCCESSFUL)        // suspend CWF1
                 {
                     status = rtems_task_suspend( Task_id[TASKID_CWF1] );
-                    if (status != RTEMS_SUCCESSFUL)
+                    if ((status != RTEMS_SUCCESSFUL) && (status != RTEMS_ALREADY_SUSPENDED))
                     {
                         PRINTF1("in suspend_science_task *** CWF1 ERR %d\n", status)
                     }
+                    else
+                    {
+                        status = RTEMS_SUCCESSFUL;
+                    }
                 }
                 return status;
             }
             void launch_waveform_picker( unsigned char mode, unsigned int transitionCoarseTime )
             {
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 set_wfp_burst_enable_register( mode );
                 LEON_Clear_interrupt( IRQ_WAVEFORM_PICKER );
                 LEON_Unmask_interrupt( IRQ_WAVEFORM_PICKER );
                 if (transitionCoarseTime == 0)
                 {
                     waveform_picker_regs->start_date = time_management_regs->coarse_time;
                 }
                 else
                 {
                     waveform_picker_regs->start_date = transitionCoarseTime;
                 }
             }
             void launch_spectral_matrix( void )
             {
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 reset_nb_sm();
                 set_sm_irq_onNewMatrix( 1 );
                 LEON_Clear_interrupt( IRQ_SPECTRAL_MATRIX );
                 LEON_Unmask_interrupt( IRQ_SPECTRAL_MATRIX );
             }
             void 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_sm_irq_onNewMatrix( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x01;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffe;   // 1110
                 }
             }
             void set_sm_irq_onError( unsigned char value )
             {
                 if (value == 1)
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config | 0x02;
                 }
                 else
                 {
                     spectral_matrix_regs->config = spectral_matrix_regs->config & 0xfffffffd;   // 1101
                 }
             }
             //*****************************
             // CONFIGURE CALIBRATION SIGNAL
             void setCalibrationPrescaler( unsigned int prescaler )
             {
                 // prescaling of the master clock (25 MHz)
                 // master clock is divided by 2^prescaler
                 time_management_regs->calPrescaler = prescaler;
             }
             void setCalibrationDivisor( unsigned int divisionFactor )
             {
                 // division of the prescaled clock by the division factor
                 time_management_regs->calDivisor = divisionFactor;
             }
             void setCalibrationData( void ){
                 unsigned int k;
                 unsigned short data;
                 float val;
                 float f0;
                 float f1;
                 float fs;
                 float Ts;
                 float scaleFactor;
                 f0 = 625;
                 f1 = 10000;
                 fs = 160256.410;
                 Ts = 1. / fs;
                 scaleFactor = 0.125 / 0.000654; // 191, 500 mVpp, 2 sinus waves => 250 mVpp each, amplitude = 125 mV
                 time_management_regs->calDataPtr = 0x00;
                 // build the signal for the SCM calibration
                 for (k=0; k<256; k++)
                 {
                     val = sin( 2 * pi * f0 * k * Ts )
                             + sin(  2 * pi * f1 * k * Ts );
                     data = (unsigned short) ((val * scaleFactor) + 2048);
                     time_management_regs->calData = data & 0xfff;
                 }
             }
             void setCalibrationDataInterleaved( void ){
                 unsigned int k;
                 float val;
                 float f0;
                 float f1;
                 float fs;
                 float Ts;
                 unsigned short data[384];
                 unsigned char *dataPtr;
                 f0 = 625;
                 f1 = 10000;
                 fs = 240384.615;
                 Ts = 1. / fs;
                 time_management_regs->calDataPtr = 0x00;
                 // build the signal for the SCM calibration
                 for (k=0; k<384; k++)
                 {
                     val = sin( 2 * pi * f0 * k * Ts )
                             + sin(  2 * pi * f1 * k * Ts );
                     data[k] = (unsigned short) (val * 512 + 2048);
                 }
                 // write the signal in interleaved mode
                 for (k=0; k<128; k++)
                 {
                     dataPtr = (unsigned char*) &data[k*3 + 2];
                     time_management_regs->calData = (data[k*3] & 0xfff)
                             + ( (dataPtr[0] & 0x3f) << 12);
                     time_management_regs->calData = (data[k*3 + 1] & 0xfff)
                             + ( (dataPtr[1] & 0x3f) << 12);
                 }
             }
             void setCalibrationReload( bool state)
             {
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000010;   // [0001 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffef;   // [1110 1111]
                 }
             }
             void setCalibrationEnable( bool state )
             {
                 // this bit drives the multiplexer
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000040;   // [0100 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffbf; // [1011 1111]
                 }
             }
             void setCalibrationInterleaved( bool state )
             {
                 // this bit drives the multiplexer
                 if (state == true)
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl | 0x00000020;   // [0010 0000]
                 }
                 else
                 {
                     time_management_regs->calDACCtrl = time_management_regs->calDACCtrl & 0xffffffdf; // [1101 1111]
                 }
             }
             void startCalibration( void )
             {
                 setCalibrationEnable( true );
                 setCalibrationReload( false );
             }
             void stopCalibration( void )
             {
                 setCalibrationEnable( false );
                 setCalibrationReload( true );
             }
             void configureCalibration( bool interleaved )
             {
                 stopCalibration();
                 if ( interleaved == true )
                 {
                     setCalibrationInterleaved( true );
                     setCalibrationPrescaler( 0 );   // 25 MHz   => 25 000 000
                     setCalibrationDivisor(  26 );   //          => 240 384
                     setCalibrationDataInterleaved();
                 }
                 else
                 {
                     setCalibrationPrescaler( 0 );   // 25 MHz   => 25 000 000
                     setCalibrationDivisor(  38 );   //          => 160 256 (39 - 1)
                     setCalibrationData();
                 }
             }
             //****************
             // CLOSING ACTIONS
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a successful TC execution.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_exe_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_exe_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_exe_tc_time[0] = time[0];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[1] = time[1];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[2] = time[2];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[3] = time[3];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[4] = time[4];
                 housekeeping_packet.hk_lfr_last_exe_tc_time[5] = time[5];
                 val = housekeeping_packet.hk_lfr_exe_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_exe_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_exe_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_exe_tc_cnt[1] = (unsigned char) (val);
             }
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC, unsigned char * time )
             {
                 /** This function is used to update the HK packets statistics after a TC rejection.
                  *
                  * @param TC points to the TC being processed
                  * @param time is the time used to date the TC rejection
                  *
                  */
                 unsigned int val;
                 housekeeping_packet.hk_lfr_last_rej_tc_id[0] = TC->packetID[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_id[1] = TC->packetID[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_type[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_type[1] = TC->serviceType;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[0] = 0x00;
                 housekeeping_packet.hk_lfr_last_rej_tc_subtype[1] = TC->serviceSubType;
                 housekeeping_packet.hk_lfr_last_rej_tc_time[0] = time[0];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[1] = time[1];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[2] = time[2];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[3] = time[3];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[4] = time[4];
                 housekeeping_packet.hk_lfr_last_rej_tc_time[5] = time[5];
                 val = housekeeping_packet.hk_lfr_rej_tc_cnt[0] * 256 + housekeeping_packet.hk_lfr_rej_tc_cnt[1];
                 val++;
                 housekeeping_packet.hk_lfr_rej_tc_cnt[0] = (unsigned char) (val >> 8);
                 housekeeping_packet.hk_lfr_rej_tc_cnt[1] = (unsigned char) (val);
             }
             void close_action(ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id )
             {
                 /** This function is the last step of the TC execution workflow.
                  *
                  * @param TC points to the TC being processed
                  * @param result is the result of the TC execution (LFR_SUCCESSFUL / LFR_DEFAULT)
                  * @param queue_id is the id of the RTEMS message queue used to send TM packets
                  * @param time is the time used to date the TC execution
                  *
                  */
                 unsigned char requestedMode;
                 if (result == LFR_SUCCESSFUL)
                 {
                     if ( !( (TC->serviceType==TC_TYPE_TIME) & (TC->serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                          &
                          !( (TC->serviceType==TC_TYPE_GEN) & (TC->serviceSubType==TC_SUBTYPE_UPDT_INFO))
                          )
                     {
                         send_tm_lfr_tc_exe_success( TC, queue_id );
                     }
                     if ( (TC->serviceType == TC_TYPE_GEN) & (TC->serviceSubType == TC_SUBTYPE_ENTER) )
                     {
                         //**********************************
                         // UPDATE THE LFRMODE LOCAL VARIABLE
                         requestedMode = TC->dataAndCRC[1];
                         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;
             }
             void set_lfr_soft_reset( unsigned char value )
             {
                 if (value == 1)
                 {
                     time_management_regs->ctrl = time_management_regs->ctrl | 0x00000004; // [0100]
                 }
                 else
                 {
                     time_management_regs->ctrl = time_management_regs->ctrl & 0xfffffffb; // [1011]
                 }
             }
             void reset_lfr( void )
             {
                 set_lfr_soft_reset( 1 );
                 set_lfr_soft_reset( 0 );
             }

src/wf_handler.c +2 -32

             /** Functions and tasks related to waveform packet generation.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle waveforms, in snapshot or continuous format.\n
              *
              */
             #include "wf_handler.h"
             //***************
             // waveform rings
             // F0
             ring_node waveform_ring_f0[NB_RING_NODES_F0];
             ring_node *current_ring_node_f0;
             ring_node *ring_node_to_send_swf_f0;
             // F1
             ring_node waveform_ring_f1[NB_RING_NODES_F1];
             ring_node *current_ring_node_f1;
             ring_node *ring_node_to_send_swf_f1;
             ring_node *ring_node_to_send_cwf_f1;
             // F2
             ring_node waveform_ring_f2[NB_RING_NODES_F2];
             ring_node *current_ring_node_f2;
             ring_node *ring_node_to_send_swf_f2;
             ring_node *ring_node_to_send_cwf_f2;
             // F3
             ring_node waveform_ring_f3[NB_RING_NODES_F3];
             ring_node *current_ring_node_f3;
             ring_node *ring_node_to_send_cwf_f3;
             char wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK ];
             bool extractSWF = false;
             bool swf_f0_ready = false;
             bool swf_f1_ready = false;
             bool swf_f2_ready = false;
             int wf_snap_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) ];
             ring_node ring_node_wf_snap_extracted;
             //*********************
             // Interrupt SubRoutine
             ring_node * getRingNodeToSendCWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 1:
                     node = ring_node_to_send_cwf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_cwf_f2;
                     break;
                 case 3:
                     node = ring_node_to_send_cwf_f3;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             ring_node * getRingNodeToSendSWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 0:
                     node = ring_node_to_send_swf_f0;
                     break;
                 case 1:
                     node = ring_node_to_send_swf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_swf_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             void reset_extractSWF( void )
             {
                 extractSWF = false;
                 swf_f0_ready = false;
                 swf_f1_ready = false;
                 swf_f2_ready = false;
             }
             inline void waveforms_isr_f3( void )
             {
                 rtems_status_code spare_status;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_BURST)  // in BURST the data are used to place v, e1 and e2 in the HK packet
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     //***
                     // F3
                     if ( (waveform_picker_regs->status & 0xc0) != 0x00 ) {  // [1100 0000] check the f3 full bits
                         ring_node_to_send_cwf_f3    = current_ring_node_f3->previous;
                         current_ring_node_f3        = current_ring_node_f3->next;
                         if ((waveform_picker_regs->status & 0x40) == 0x40){         // [0100 0000] f3 buffer 0 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_0_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_0_fine_time;
                             waveform_picker_regs->addr_data_f3_0    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & 0x00008840; // [1000 1000 0100 0000]
                         }
                         else if ((waveform_picker_regs->status & 0x80) == 0x80){     // [1000 0000] f3 buffer 1 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_1_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_1_fine_time;
                             waveform_picker_regs->addr_data_f3_1    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & 0x00008880; // [1000 1000 1000 0000]
                         }
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                         }
                     }
                 }
             }
             inline void waveforms_isr_normal( void )
             {
                 rtems_status_code status;
                 if ( ( (waveform_picker_regs->status & 0x30) != 0x00 )      // [0011 0000] check the f2 full bits
                      && ( (waveform_picker_regs->status & 0x0c) != 0x00 )   // [0000 1100] check the f1 full bits
                      && ( (waveform_picker_regs->status & 0x03) != 0x00 ))  // [0000 0011] check the f0 full bits
                 {
                     //***
                     // F0
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                     //***
                     // F1
                     ring_node_to_send_swf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     //***
                     // F2
                     ring_node_to_send_swf_f2    = current_ring_node_f2->previous;
                     current_ring_node_f2        = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                     //
                     status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL );
                     if ( status != RTEMS_SUCCESSFUL)
                     {
                         status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                 }
             }
             inline void waveforms_isr_burst( void )
             {
                 unsigned char status;
                 rtems_status_code spare_status;
                 status = (waveform_picker_regs->status & 0x30) >> 4;   // [0011 0000] get the status bits for f2
                 switch(status)
                 {
                 case 1:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     break;
                 case 2:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     break;
                 default:
                     break;
                 }
             }
             inline void waveforms_isr_sbm1( void )
             {
                 rtems_status_code status;
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [0000 1100] check the f1 full bits
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     // (2) send an event for the the CWF1 task for transmission (and snapshot extraction if needed)
                     status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
                 }
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & 0x03) != 0x00 ) {  // [0000 0011] check the f0 full bits
                     swf_f0_ready = true;
                     // change f0 buffer
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                 }
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & 0x30) != 0x00 ) {  // [0011 0000] check the f2 full bits
                     swf_f2_ready = true;
                     // change f2 buffer
                     ring_node_to_send_swf_f2    = current_ring_node_f2->previous;
                     current_ring_node_f2        = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                 }
             }
             inline void waveforms_isr_sbm2( void )
             {
                 rtems_status_code status;
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & 0x30) != 0x00 ) {  // [0011 0000] check the f2 full bit
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f2      = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid = SID_SBM2_CWF_F2;
                     current_ring_node_f2          = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                     // (2) send an event for the waveforms transmission
                     status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
                 }
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & 0x03) != 0x00 ) {  // [0000 0011] check the f0 full bit
                     swf_f0_ready = true;
                     // change f0 buffer
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                 }
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [0000 1100] check the f1 full bit
                     swf_f1_ready = true;
                     ring_node_to_send_swf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                 }
             }
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
                 /** This is the interrupt sub routine called by the waveform picker core.
                  *
                  * This ISR launch different actions depending mainly on two pieces of information:
                  * 1. the values read in the registers of the waveform picker.
                  * 2. the current LFR mode.
                  *
                  */
                 // STATUS
                 // new error        error buffer full
                 // 15 14 13 12      11 10 9  8
                 // f3 f2 f1 f0      f3 f2 f1 f0
                 //
                 // ready buffer
                 // 7    6    5    4    3    2    1    0
                 // f3_1 f3_0 f2_1 f2_0 f1_1 f1_0 f0_1 f0_0
                 rtems_status_code spare_status;
                 waveforms_isr_f3();
                 if ( (waveform_picker_regs->status & 0xff00) != 0x00)    // [1111 1111 0000 0000] check the error bits
                 {
                     spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_10 );
                 }
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
                     waveforms_isr_normal();
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
                     waveforms_isr_burst();
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
                     waveforms_isr_sbm1();
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
                     waveforms_isr_sbm2();
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
             }
             //************
             // RTEMS TASKS
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packets are sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F0
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F1
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 bool resynchronisationEngaged;
                 ring_node *ring_node_wf_snap_extracted_ptr;
                 ring_node_wf_snap_extracted_ptr = (ring_node *) &ring_node_wf_snap_extracted;
                 resynchronisationEngaged = false;
                 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(resynchronisationEngaged == false)
                     {   // engage resynchronisation
                         snapshot_resynchronization( (unsigned char *)  &ring_node_to_send_swf_f0->coarseTime );
                         resynchronisationEngaged = true;
                     }
                     else
                     {   // reset delta_snapshot to the nominal value
                         PRINTF("no resynchronisation, reset delta_snapshot to the nominal value\n")
                         set_wfp_delta_snapshot();
                         resynchronisationEngaged = false;
                     }
                     //
                     if (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_NORMAL\n")
                         ring_node_to_send_swf_f0->sid = SID_NORM_SWF_F0;
                         ring_node_to_send_swf_f1->sid = SID_NORM_SWF_F1;
                         ring_node_to_send_swf_f2->sid = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f1, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f2, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM1\n")
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_wf_snap_extracted_ptr->sid    = SID_NORM_SWF_F1;
                         ring_node_to_send_swf_f2->sid           = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_wf_snap_extracted_ptr, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f2,        sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM2\n")
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_to_send_swf_f1->sid           = SID_NORM_SWF_F1;
                         ring_node_wf_snap_extracted_ptr->sid    = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f1,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_wf_snap_extracted_ptr, sizeof( ring_node* ) );
                     }
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_CWF_F3
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node ring_node_cwf3_light;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF3 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                 // init the ring_node_cwf3_light structure
                 ring_node_cwf3_light.buffer_address = (int) wf_cont_f3_light;
                 ring_node_cwf3_light.coarseTime = 0x00;
                 ring_node_cwf3_light.fineTime = 0x00;
                 ring_node_cwf3_light.next = NULL;
                 ring_node_cwf3_light.previous = NULL;
                 ring_node_cwf3_light.sid = SID_NORM_CWF_F3;
                 ring_node_cwf3_light.status = 0x00;
                 BOOT_PRINTF("in CWF3 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                          || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode==LFR_MODE_SBM2) )
                     {
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             PRINTF("send CWF_LONG_F3\n")
                             ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                             status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf_f3, sizeof( ring_node* ) );
                         }
                         else
                         {
                             PRINTF("send CWF_F3 (light)\n")
                             send_waveform_CWF3_light( ring_node_to_send_cwf_f3, &ring_node_cwf3_light, queue_id );
                         }
                     }
                     else
                     {
                         PRINTF1("in CWF3 *** lfrCurrentMode is %d, no data will be sent\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_BURST_CWF_F2
                  * - TM_LFR_SCIENCE_SBM2_CWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send;
                 unsigned long long int acquisitionTimeF0_asLong;
                 acquisitionTimeF0_asLong = 0x00;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF2 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send = getRingNodeToSendCWF( 2 );
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                         // 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, acquisitionTimeF0_asLong );
                             // 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;
                             // record the acquition time of the fà snapshot to use to build the snapshot at f2
                             acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                             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;
                 ring_node *ring_node_to_send_cwf;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF1 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send_cwf = getRingNodeToSendCWF( 1 );
                     ring_node_to_send_cwf_f1->sid = SID_SBM1_CWF_F1;
                     status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
+                    if (status != 0)
+                        printf("cwf sending failed\n");
                     // launch snapshot extraction if needed
                     if (extractSWF == true)
                     {
                         ring_node_to_send_swf_f1 = ring_node_to_send_cwf;
                         // launch the snapshot extraction
                         status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_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_task swbd_task(rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the building of snapshots from different continuous waveforms buffers.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 unsigned long long int acquisitionTimeF0_asLong;
                 acquisitionTimeF0_asLong = 0x00;
                 BOOT_PRINTF("in SWBD ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1 | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                         build_snapshot_from_ring( ring_node_to_send_swf_f1, 1, acquisitionTimeF0_asLong );
                         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_ring( waveform_ring_f0, NB_RING_NODES_F0, wf_buffer_f0, WFRM_BUFFER );
                 // F1 RING
                 init_ring( waveform_ring_f1, NB_RING_NODES_F1, wf_buffer_f1, WFRM_BUFFER );
                 // F2 RING
                 init_ring( waveform_ring_f2, NB_RING_NODES_F2, wf_buffer_f2, WFRM_BUFFER );
                 // F3 RING
                 init_ring( waveform_ring_f3, NB_RING_NODES_F3, wf_buffer_f3, WFRM_BUFFER );
                 ring_node_wf_snap_extracted.buffer_address = (int) wf_snap_extracted;
                 DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                 DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                 DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
                 DEBUG_PRINTF1("waveform_ring_f3 @%x\n", (unsigned int) waveform_ring_f3)
                 DEBUG_PRINTF1("wf_buffer_f0 @%x\n", (unsigned int) wf_buffer_f0)
                 DEBUG_PRINTF1("wf_buffer_f1 @%x\n", (unsigned int) wf_buffer_f1)
                 DEBUG_PRINTF1("wf_buffer_f2 @%x\n", (unsigned int) wf_buffer_f2)
                 DEBUG_PRINTF1("wf_buffer_f3 @%x\n", (unsigned int) wf_buffer_f3)
             }
-            void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
-                unsigned char i;
-                //***************
-                // BUFFER ADDRESS
-                for(i=0; i<nbNodes; i++)
-                    ring[i].coarseTime = 0x00;
-                    ring[i].fineTime = 0x00;
-                    ring[i].sid = 0x00;
-                    ring[i].status = 0x00;
-                    ring[i].buffer_address  = (int) &buffer[ i * bufferSize ];
-                //*****
-                // NEXT
-                 ring[ nbNodes - 1 ].next  = (ring_node*) &ring[ 0 ];
-                 for(i=0; i<nbNodes-1; i++)
-                     ring[i].next      = (ring_node*) &ring[ i + 1 ];
-                //*********
-                // PREVIOUS
-                ring[ 0 ].previous       = (ring_node*) &ring[ nbNodes - 1 ];
-                for(i=1; i<nbNodes; i++)
-                    ring[i].previous   = (ring_node*) &ring[ i - 1 ];
             void WFP_reset_current_ring_nodes( void )
             {
                 current_ring_node_f0      = waveform_ring_f0[0].next;
                 current_ring_node_f1      = waveform_ring_f1[0].next;
                 current_ring_node_f2      = waveform_ring_f2[0].next;
                 current_ring_node_f3      = waveform_ring_f3[0].next;
                 ring_node_to_send_swf_f0  = waveform_ring_f0;
                 ring_node_to_send_swf_f1  = waveform_ring_f1;
                 ring_node_to_send_swf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f1  = waveform_ring_f1;
                 ring_node_to_send_cwf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f3  = waveform_ring_f3;
             }
             int send_waveform_CWF3_light( ring_node *ring_node_to_send, ring_node *ring_node_cwf3_light, rtems_id queue_id )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 char *sample;
                 int *dataPtr;
                 ret = LFR_DEFAULT;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 ring_node_cwf3_light->coarseTime = ring_node_to_send->coarseTime;
                 ring_node_cwf3_light->fineTime = ring_node_to_send->fineTime;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     sample = (char*) &dataPtr[ (i * NB_WORDS_SWF_BLK) ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     ] = sample[ 0 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 ] = sample[ 1 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 ] = sample[ 2 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 ] = sample[ 3 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 ] = sample[ 4 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 ] = sample[ 5 ];
                 }
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, &ring_node_cwf3_light, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     printf("%d-%d, ERR %d\n", SID_NORM_CWF_F3, i, (int) status);
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             void compute_acquisition_time( unsigned int coarseTime, unsigned int fineTime,
                                            unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char * acquisitionTime )
             {
                 unsigned long long int acquisitionTimeAsLong;
                 unsigned char localAcquisitionTime[6];
                 double deltaT;
                 deltaT = 0.;
                 localAcquisitionTime[0] = (unsigned char) ( coarseTime >> 24 );
                 localAcquisitionTime[1] = (unsigned char) ( coarseTime >> 16 );
                 localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 8  );
                 localAcquisitionTime[3] = (unsigned char) ( coarseTime       );
                 localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 8  );
                 localAcquisitionTime[5] = (unsigned char) ( fineTime         );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                         + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                         + ( (unsigned long long int) localAcquisitionTime[2] << 24 )
                         + ( (unsigned long long int) localAcquisitionTime[3] << 16 )
                         + ( (unsigned long long int) localAcquisitionTime[4] << 8  )
                         + ( (unsigned long long int) localAcquisitionTime[5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d\n", sid)
                     deltaT = 0.;
                     break;
                 }
                 acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                 //
                 acquisitionTime[0] = (unsigned char) (acquisitionTimeAsLong >> 40);
                 acquisitionTime[1] = (unsigned char) (acquisitionTimeAsLong >> 32);
                 acquisitionTime[2] = (unsigned char) (acquisitionTimeAsLong >> 24);
                 acquisitionTime[3] = (unsigned char) (acquisitionTimeAsLong >> 16);
                 acquisitionTime[4] = (unsigned char) (acquisitionTimeAsLong >> 8 );
                 acquisitionTime[5] = (unsigned char) (acquisitionTimeAsLong      );
             }
             void build_snapshot_from_ring( ring_node *ring_node_to_send, unsigned char frequencyChannel, unsigned long long int acquisitionTimeF0_asLong )
             {
                 unsigned int i;
                 unsigned long long int centerTime_asLong;
                 unsigned long long int acquisitionTime_asLong;
                 unsigned long long int bufferAcquisitionTime_asLong;
                 unsigned char *ptr1;
                 unsigned char *ptr2;
                 unsigned char *timeCharPtr;
                 unsigned char nb_ring_nodes;
                 unsigned long long int frequency_asLong;
                 unsigned long long int nbTicksPerSample_asLong;
                 unsigned long long int nbSamplesPart1_asLong;
                 unsigned long long int sampleOffset_asLong;
                 unsigned int deltaT_F0;
                 unsigned int deltaT_F1;
                 unsigned long long int deltaT_F2;
                 deltaT_F0 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                 deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                 sampleOffset_asLong = 0x00;
                 // (1) get the f0 acquisition time => the value is passed in argument
                 // (2) compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
                 // (3) compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case 1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = 4096;
                     nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                     break;
                 case 2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;
                     break;
                 }
                 //****************************************************************************
                 // (4) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 for (i=0; i<nb_ring_nodes; i++)
                 {
                     PRINTF1("%d ... ", i)
                     bufferAcquisitionTime_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send->coarseTime );
                     if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                     {
                         PRINTF1("buffer found with acquisition time = %llx\n", bufferAcquisitionTime_asLong)
                         break;
                     }
                     ring_node_to_send = ring_node_to_send->previous;
                 }
                 // (5) compute the number of samples to take in the current buffer
                 sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> 16;
                 nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
                 PRINTF2("sampleOffset_asLong = %lld, nbSamplesPart1_asLong = %lld\n", sampleOffset_asLong, nbSamplesPart1_asLong)
                 // (6) compute the final acquisition time
                 acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                         sampleOffset_asLong * nbTicksPerSample_asLong;
                 // (7) copy the acquisition time at the beginning of the extrated snapshot
                 ptr1 = (unsigned char*) &acquisitionTime_asLong;
                 // fine time
                 ptr2 = (unsigned char*) &ring_node_wf_snap_extracted.fineTime;
                 ptr2[2] = ptr1[ 4 + 2 ];
                 ptr2[3] = ptr1[ 5 + 2 ];
                 // coarse time
                 ptr2 = (unsigned char*) &ring_node_wf_snap_extracted.coarseTime;
                 ptr2[0] = ptr1[ 0 + 2 ];
                 ptr2[1] = ptr1[ 1 + 2 ];
                 ptr2[2] = ptr1[ 2 + 2 ];
                 ptr2[3] = ptr1[ 3 + 2 ];
                 // re set the synchronization bit
                 timeCharPtr = (unsigned char*) &ring_node_to_send->coarseTime;
                 ptr2[0] = ptr2[0] | (timeCharPtr[0] & 0x80); // [1000 0000]
                 if ( (nbSamplesPart1_asLong >= NB_SAMPLES_PER_SNAPSHOT) | (nbSamplesPart1_asLong < 0) )
                 {
                     nbSamplesPart1_asLong = 0;
                 }
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) ];
                 }
                 // copy the part 2 of the snapshot in the extracted buffer
                 ring_node_to_send = ring_node_to_send->next;
                 for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ (i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) ];
                 }
             }
             void snapshot_resynchronization( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTime;
                 unsigned long long int centerTime;
                 unsigned long long int previousTick;
                 unsigned long long int nextTick;
                 unsigned long long int deltaPreviousTick;
                 unsigned long long int deltaNextTick;
                 unsigned int deltaTickInF2;
                 double deltaPrevious;
                 double deltaNext;
                 acquisitionTime = get_acquisition_time( timePtr );
                 // compute center time
                 centerTime = acquisitionTime + 2731;    // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 previousTick = centerTime - (centerTime & 0xffff);
                 nextTick = previousTick + 65536;
                 deltaPreviousTick   = centerTime - previousTick;
                 deltaNextTick       = nextTick - centerTime;
                 deltaPrevious       = ((double) deltaPreviousTick) / 65536. * 1000.;
                 deltaNext           = ((double) deltaNextTick) / 65536. * 1000.;
                 PRINTF2("delta previous = %f ms, delta next = %f ms\n", deltaPrevious, deltaNext)
                 PRINTF2("delta previous = %llu, delta next = %llu\n", deltaPreviousTick, deltaNextTick)
                 // which tick is the closest
                 if (deltaPreviousTick > deltaNextTick)
                 {
                     deltaTickInF2 = floor( (deltaNext * 256. / 1000.) ); // the division by 2 is important here
                     waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot + deltaTickInF2;
                     printf("correction of = + %u\n", deltaTickInF2);
                 }
                 else
                 {
                     deltaTickInF2 = floor( (deltaPrevious * 256. / 1000.) ); // the division by 2 is important here
                     waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot - deltaTickInF2;
                     printf("correction of = - %u\n", deltaTickInF2);
                 }
             }
             //**************
             // wfp registers
             void reset_wfp_burst_enable( void )
             {
                 /** This function resets the waveform picker burst_enable register.
                  *
                  * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                  *
                  */
                 // [1000 000] burst f2, f1, f0     enable f3, f2, f1, f0
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable & 0x80;
             }
             void reset_wfp_status( void )
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
                 waveform_picker_regs->status = 0xffff;
             }
             void reset_wfp_buffer_addresses( void )
             {
                 // F0
                 waveform_picker_regs->addr_data_f0_0 = current_ring_node_f0->previous->buffer_address;  // 0x08
                 waveform_picker_regs->addr_data_f0_1 = current_ring_node_f0->buffer_address;            // 0x0c
                 // F1
                 waveform_picker_regs->addr_data_f1_0 = current_ring_node_f1->previous->buffer_address;  // 0x10
                 waveform_picker_regs->addr_data_f1_1 = current_ring_node_f1->buffer_address;            // 0x14
                 // F2
                 waveform_picker_regs->addr_data_f2_0 = current_ring_node_f2->previous->buffer_address;  // 0x18
                 waveform_picker_regs->addr_data_f2_1 = current_ring_node_f2->buffer_address;            // 0x1c
                 // F3
                 waveform_picker_regs->addr_data_f3_0 = current_ring_node_f3->previous->buffer_address;  // 0x20
                 waveform_picker_regs->addr_data_f3_1 = current_ring_node_f3->buffer_address;            // 0x24
             }
             void reset_waveform_picker_regs( void )
             {
                 /** This function resets the waveform picker module registers.
                 *
                 * The registers affected by this function are located at the following offset addresses:
                 * - 0x00 data_shaping
                 * - 0x04 run_burst_enable
                 * - 0x08 addr_data_f0
                 * - 0x0C addr_data_f1
                 * - 0x10 addr_data_f2
                 * - 0x14 addr_data_f3
                 * - 0x18 status
                 * - 0x1C delta_snapshot
                 * - 0x20 delta_f0
                 * - 0x24 delta_f0_2
                 * - 0x28 delta_f1
                 * - 0x2c delta_f2
                 * - 0x30 nb_data_by_buffer
                 * - 0x34 nb_snapshot_param
                 * - 0x38 start_date
                 * - 0x3c nb_word_in_buffer
                 *
                 */
                 set_wfp_data_shaping();                                     // 0x00 *** R1 R0 SP1 SP0 BW
                 reset_wfp_burst_enable();                                   // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 reset_wfp_buffer_addresses();
                 reset_wfp_status();                                         // 0x18
                 set_wfp_delta_snapshot();   // 0x1c *** 300 s => 0x12bff
                 set_wfp_delta_f0_f0_2();    // 0x20, 0x24
                 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        = 0x7fffffff;  // 0x38
                 //
                 // coarse time and fine time registers are not initialized, they are volatile
                 //
                 waveform_picker_regs->buffer_length     = 0x1f8;// buffer length in burst = 3 * 2688 / 16 = 504 = 0x1f8
             }
             void set_wfp_data_shaping( void )
             {
                 /** This function sets the data_shaping register of the waveform picker module.
                  *
                  * The value is read from one field of the parameter_dump_packet structure:\n
                  * bw_sp0_sp1_r0_r1
                  *
                  */
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.sy_lfr_common_parameters;
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x10) >> 4 )     // BW
                         + ( (data_shaping & 0x08) >> 2 )     // SP0
                         + ( (data_shaping & 0x04)      )     // SP1
                         + ( (data_shaping & 0x02) << 2 )     // R0
                         + ( (data_shaping & 0x01) << 4 )     // R1
                         + ( (data_shaping & 0x01) << 5 );    // R2
             }
             void set_wfp_burst_enable_register( unsigned char mode )
             {
                 /** This function sets the waveform picker burst_enable register depending on the mode.
                  *
                  * @param mode is the LFR mode to launch.
                  *
                  * The burst bits shall be before the enable bits.
                  *
                  */
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case(LFR_MODE_NORMAL):
                     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    = 0x30;         // 48 = 11 0000, 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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