HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r293:e6dce572ae0e

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r293:e6dce572ae0e R3_plus

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r293:e6dce572ae0e

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.hgsubstate +1 -1

@@ -1,2 +1,2
1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters	1	3081d1f9bb20b2b64a192585337a292a9804e0c5 LFR_basic-parameters
2	2450d4935652a4d0370245cc7fc60a4c51e6fc9b header/lfr_common_headers	2	c378fa14eadd80b3b873ca7c8f9f387893c07692 header/lfr_common_headers

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

             TEMPLATE = app
             # CONFIG += console v8 sim
             # CONFIG options =
             #           verbose
             #           boot_messages
             #           debug_messages
             #           cpu_usage_report
             #           stack_report
             #           vhdl_dev
             #           debug_tch
             #           lpp_dpu_destid      /!\ REMOVE BEFORE DELIVERY TO LESIA /!\
             #           debug_watchdog
             CONFIG += console verbose lpp_dpu_destid cpu_usage_report
             CONFIG -= qt
             include(./sparc.pri)
             # flight software version
             SWVERSION=-1-0
             DEFINES += SW_VERSION_N1=3 # major
             DEFINES += SW_VERSION_N2=1 # minor
             DEFINES += SW_VERSION_N3=0 # patch
-            DEFINES += SW_VERSION_N4=1 # internal
+            DEFINES += SW_VERSION_N4=2 # internal
             # <GCOV>
             #QMAKE_CFLAGS_RELEASE += -fprofile-arcs -ftest-coverage
             #LIBS += -lgcov /opt/GCOV/01A/lib/overload.o -lc
             # </GCOV>
             # <CHANGE BEFORE FLIGHT>
             contains( CONFIG, lpp_dpu_destid ) {
                 DEFINES += LPP_DPU_DESTID
             }
             # </CHANGE BEFORE FLIGHT>
             contains( CONFIG, debug_tch ) {
                 DEFINES += DEBUG_TCH
             }
             DEFINES += MSB_FIRST_TCH
             contains( CONFIG, vhdl_dev ) {
                 DEFINES += VHDL_DEV
             }
             contains( CONFIG, verbose ) {
                 DEFINES += PRINT_MESSAGES_ON_CONSOLE
             }
             contains( CONFIG, debug_messages ) {
                 DEFINES += DEBUG_MESSAGES
             }
             contains( CONFIG, cpu_usage_report ) {
                 DEFINES += PRINT_TASK_STATISTICS
             }
             contains( CONFIG, stack_report ) {
                 DEFINES += PRINT_STACK_REPORT
             }
             contains( CONFIG, boot_messages ) {
                 DEFINES += BOOT_MESSAGES
             }
             contains( CONFIG, debug_watchdog ) {
                 DEFINES += DEBUG_WATCHDOG
             }
             #doxygen.target = doxygen
             #doxygen.commands = doxygen ../doc/Doxyfile
             #QMAKE_EXTRA_TARGETS += doxygen
             TARGET = fsw
             INCLUDEPATH += \
                 $${PWD}/../src \
                 $${PWD}/../header \
                 $${PWD}/../header/lfr_common_headers \
                 $${PWD}/../header/processing \
                 $${PWD}/../LFR_basic-parameters
             SOURCES += \
                 ../src/wf_handler.c \
                 ../src/tc_handler.c \
                 ../src/fsw_misc.c \
                 ../src/fsw_init.c \
                 ../src/fsw_globals.c \
                 ../src/fsw_spacewire.c \
                 ../src/tc_load_dump_parameters.c \
                 ../src/tm_lfr_tc_exe.c \
                 ../src/tc_acceptance.c \
                 ../src/processing/fsw_processing.c \
                 ../src/processing/avf0_prc0.c \
                 ../src/processing/avf1_prc1.c \
                 ../src/processing/avf2_prc2.c \
                 ../src/lfr_cpu_usage_report.c \
                 ../LFR_basic-parameters/basic_parameters.c
             HEADERS += \
                 ../header/wf_handler.h \
                 ../header/tc_handler.h \
                 ../header/grlib_regs.h \
                 ../header/fsw_misc.h \
                 ../header/fsw_init.h \
                 ../header/fsw_spacewire.h \
                 ../header/tc_load_dump_parameters.h \
                 ../header/tm_lfr_tc_exe.h \
                 ../header/tc_acceptance.h \
                 ../header/processing/fsw_processing.h \
                 ../header/processing/avf0_prc0.h \
                 ../header/processing/avf1_prc1.h \
                 ../header/processing/avf2_prc2.h \
                 ../header/fsw_params_wf_handler.h \
                 ../header/lfr_cpu_usage_report.h \
                 ../header/lfr_common_headers/ccsds_types.h \
                 ../header/lfr_common_headers/fsw_params.h \
                 ../header/lfr_common_headers/fsw_params_nb_bytes.h \
                 ../header/lfr_common_headers/fsw_params_processing.h \
                 ../header/lfr_common_headers/tm_byte_positions.h \
                 ../LFR_basic-parameters/basic_parameters.h \
                 ../LFR_basic-parameters/basic_parameters_params.h \
                 ../header/GscMemoryLPP.hpp

header/fsw_init.h +1 -1

             #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"
             extern rtems_name  Task_name[20];       /* array of task names */
             extern rtems_id    Task_id[20];         /* array of task ids */
             extern rtems_name timecode_timer_name;
             extern rtems_id timecode_timer_id;
             extern unsigned char pa_bia_status_info;
             extern unsigned char cp_rpw_sc_rw_f_flags;
             extern float cp_rpw_sc_rw1_f1;
             extern float cp_rpw_sc_rw1_f2;
             extern float cp_rpw_sc_rw2_f1;
             extern float cp_rpw_sc_rw2_f2;
             extern float cp_rpw_sc_rw3_f1;
             extern float cp_rpw_sc_rw3_f2;
             extern float cp_rpw_sc_rw4_f1;
             extern float cp_rpw_sc_rw4_f2;
-            extern float sy_lfr_sc_rw_delta_f;
+            extern filterPar_t filterPar;
             // 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 create_timecode_timer( 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

src/fsw_globals.c +3 -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 */
             rtems_name timecode_timer_name;
             rtems_id timecode_timer_id;
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             unsigned char pa_bia_status_info;
             unsigned char thisIsAnASMRestart = 0;
             unsigned char oneTcLfrUpdateTimeReceived = 0;
             // 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;
             unsigned int lastValidEnterModeTime;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             unsigned char cp_rpw_sc_rw_f_flags;
             // 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 sequenceCounters_TM_DUMP[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounterHK;
             spw_stats grspw_stats;
             // TC_LFR_UPDATE_INFO
             float cp_rpw_sc_rw1_f1;
             float cp_rpw_sc_rw1_f2;
             float cp_rpw_sc_rw2_f1;
             float cp_rpw_sc_rw2_f2;
             float cp_rpw_sc_rw3_f1;
             float cp_rpw_sc_rw3_f2;
             float cp_rpw_sc_rw4_f1;
             float cp_rpw_sc_rw4_f2;
-            float sy_lfr_sc_rw_delta_f;
+            // TC_LFR_LOAD_FILTER_PAR
+            filterPar_t filterPar;
             fbins_masks_t fbins_masks;
             unsigned int acquisitionDurations[3] = {ACQUISITION_DURATION_F0, ACQUISITION_DURATION_F1, ACQUISITION_DURATION_F2};

src/fsw_init.c +7 -1

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 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 // [spiq] [link] [spacewire_reset_link]
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             #include "GscMemoryLPP.hpp"
             void initCache()
             {
                 // ASI 2 contains a few control registers that have not been assigned as ancillary state registers.
                 // These should only be read and written using 32-bit LDA/STA instructions.
                 // All cache registers are accessed through load/store operations to the alternate address space (LDA/STA), using ASI = 2.
                 // The table below shows the register addresses:
                 //      0x00 Cache control register
                 //      0x04 Reserved
                 //      0x08 Instruction cache configuration register
                 //      0x0C Data cache configuration register
                 // Cache Control Register Leon3 / Leon3FT
                 // 31..30  29   28  27..24  23  22  21  20..19  18  17  16
                 //         RFT  PS  TB      DS  FD  FI  FT          ST  IB
                 // 15  14  13..12  11..10  9..8  7..6  5   4   3..2  1..0
                 // IP  DP  ITE     IDE     DTE   DDE   DF  IF  DCS   ICS
                 unsigned int cacheControlRegister;
                 CCR_resetCacheControlRegister();
                 ASR16_resetRegisterProtectionControlRegister();
                 cacheControlRegister = CCR_getValue();
                 PRINTF1("(0) CCR - Cache Control Register = %x\n", cacheControlRegister);
                 PRINTF1("(0) ASR16                        = %x\n", *asr16Ptr);
                 CCR_enableInstructionCache();       // ICS bits
                 CCR_enableDataCache();              // DCS bits
                 CCR_enableInstructionBurstFetch();  // IB  bit
                 faultTolerantScheme();
                 cacheControlRegister = CCR_getValue();
                 PRINTF1("(1) CCR - Cache Control Register = %x\n", cacheControlRegister);
                 PRINTF1("(1) ASR16 Register protection control register = %x\n", *asr16Ptr);
                 PRINTF("\n");
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 enable_apbuart_transmitter();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d            **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_prc0();
                 init_k_coefficients_prc1();
                 init_k_coefficients_prc2();
                 pa_bia_status_info = 0x00;
                 cp_rpw_sc_rw_f_flags = 0x00;
                 cp_rpw_sc_rw1_f1 = 0.0;
                 cp_rpw_sc_rw1_f2 = 0.0;
                 cp_rpw_sc_rw2_f1 = 0.0;
                 cp_rpw_sc_rw2_f2 = 0.0;
                 cp_rpw_sc_rw3_f1 = 0.0;
                 cp_rpw_sc_rw3_f2 = 0.0;
                 cp_rpw_sc_rw4_f1 = 0.0;
                 cp_rpw_sc_rw4_f2 = 0.0;
-                sy_lfr_sc_rw_delta_f = 0.0;
+                // initialize filtering parameters
+                filterPar.spare_sy_lfr_pas_filter_enabled   = DEFAULT_SY_LFR_PAS_FILTER_ENABLED;
+                filterPar.sy_lfr_pas_filter_modulus         = DEFAULT_SY_LFR_PAS_FILTER_MODULUS;
+                filterPar.sy_lfr_pas_filter_tbad            = DEFAULT_SY_LFR_PAS_FILTER_TBAD;
+                filterPar.sy_lfr_pas_filter_offset          = DEFAULT_SY_LFR_PAS_FILTER_OFFSET;
+                filterPar.sy_lfr_pas_filter_shift           = DEFAULT_SY_LFR_PAS_FILTER_SHIFT;
+                filterPar.sy_lfr_sc_rw_delta_f              = DEFAULT_SY_LFR_SC_RW_DELTA_F;
                 update_last_valid_transition_date( DEFAULT_LAST_VALID_TRANSITION_DATE  );
                 // waveform picker initialization
                 WFP_init_rings();
                 LEON_Clear_interrupt( IRQ_SPARC_GPTIMER_WATCHDOG );    // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 updateLFRCurrentMode( LFR_MODE_STANDBY );
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_timecode_timer();           // create the timer used by timecode_irq_handler
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_timer_timecode, code %d", status)
                 }
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 set_hk_lfr_sc_potential_flag( true );
                 // start the timer to detect a missing spacewire timecode
                 // the timeout is larger because the spw IP needs to receive several valid timecodes before generating a tickout
                 // if a tickout is generated, the timer is restarted
                 status = rtems_timer_fire_after( timecode_timer_id, TIMECODE_TIMER_TIMEOUT_INIT, timecode_timer_routine, NULL );
                 grspw_timecode_callback = &timecode_irq_handler;
                 status = rtems_task_delete(RTEMS_SELF);
             }
             void init_local_mode_parameters( void )
             {
                 /** This function initialize the param_local global variable with default values.
                  *
                  */
                 unsigned int i;
                 // LOCAL PARAMETERS
                 BOOT_PRINTF1("local_sbm1_nb_cwf_max %d \n", param_local.local_sbm1_nb_cwf_max)
                 BOOT_PRINTF1("local_sbm2_nb_cwf_max %d \n", param_local.local_sbm2_nb_cwf_max)
                 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_TM_DUMP[i] = 0x00;
                 }
                 sequenceCounters_SCIENCE_NORMAL_BURST = 0x00;
                 sequenceCounters_SCIENCE_SBM1_SBM2 =    0x00;
                 sequenceCounterHK =                     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_LOAD] = rtems_build_name( 'L', 'O', 'A', 'D' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_LINK] = rtems_build_name( 'L', 'I', 'N', 'K' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 // 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' );
                 timecode_timer_name = rtems_build_name( 'S', 'P', 'T', 'C' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // LINK
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LINK], TASK_PRIORITY_LINK, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LINK]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 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) // LOAD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_LOAD], TASK_PRIORITY_LOAD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_LOAD]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // 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)     // LINK
                 {
                     status = rtems_task_start( Task_id[TASKID_LINK], link_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LINK\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // 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)     // LOAD
                 {
                     status = rtems_task_start( Task_id[TASKID_LOAD], load_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_LOAD\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code create_timecode_timer( void )
             {
                 rtems_status_code status;
                 status =  rtems_timer_create( timecode_timer_name, &timecode_timer_id );
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in create_timer_timecode *** ERR creating SPTC timer, %d\n", status)
                 }
                 else
                 {
                     PRINTF("in create_timer_timecode *** OK creating SPTC timer\n")
                 }
                 return status;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
             {
                 u_int32_t count;
                 rtems_status_code status;
                 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 = 0xffffffff;
                     ring[i].fineTime = 0xffffffff;
                     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/processing/fsw_processing.c +6 -15

             /** 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;
             typedef enum restartState_t
             {
                 WAIT_FOR_F2,
                 WAIT_FOR_F1,
                 WAIT_FOR_F0
             } restartState;
             //************************
             // 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( int statusReg )
             {
                 unsigned char status;
                 rtems_status_code status_code;
                 ring_node *full_ring_node;
                 status = (unsigned char) (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( int statusReg )
             {
                 rtems_status_code status_code;
                 unsigned char status;
                 ring_node *full_ring_node;
                 status = (unsigned char) ((statusReg & 0x0c) >> 2);   // [1100] get the status_ready_matrix_f1_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( int statusReg )
             {
                 unsigned char status;
                 rtems_status_code status_code;
                 status = (unsigned char) ((statusReg & 0x30) >> 4);   // [0011 0000] get the status_ready_matrix_f2_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( int statusReg )
             {
                 // 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
                 // [bad_component_err] not defined in the last version of the VHDL code
                 rtems_status_code status_code;
                 //***************************************************
                 // the ASM status register is copied in the HK packet
                 housekeeping_packet.hk_lfr_vhdl_aa_sm = (unsigned char) (statusReg & 0x780 >> 7);    // [0111 1000 0000]
                 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
                 int statusReg;
                 static restartState state = WAIT_FOR_F2;
                 statusReg = spectral_matrix_regs->status;
                 if (thisIsAnASMRestart == 0)
                 {   // this is not a restart sequence, process incoming matrices normally
                     spectral_matrices_isr_f0( statusReg );
                     spectral_matrices_isr_f1( statusReg );
                     spectral_matrices_isr_f2( statusReg );
                 }
                 else
                 {   // a restart sequence has to be launched
                     switch (state) {
                     case WAIT_FOR_F2:
                         if ((statusReg & 0x30) != 0x00)   // [0011 0000] check the status_ready_matrix_f2_x bits
                         {
                             state = WAIT_FOR_F1;
                         }
                         break;
                     case WAIT_FOR_F1:
                         if ((statusReg & 0x0c) != 0x00)   // [0000 1100] check the status_ready_matrix_f1_x bits
                         {
                             state = WAIT_FOR_F0;
                         }
                         break;
                     case WAIT_FOR_F0:
                         if ((statusReg & 0x03) != 0x00)   // [0000 0011] check the status_ready_matrix_f0_x bits
                         {
                             state = WAIT_FOR_F2;
                             thisIsAnASMRestart = 0;
                         }
                         break;
                     default:
                         break;
                     }
                     reset_sm_status();
                 }
                 spectral_matrix_isr_error_handler( statusReg );
             }
             //******************
             // 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->pa_bia_status_info = 0x00;
                 packet->sy_lfr_common_parameters_spare = 0x00;
                 packet->sy_lfr_common_parameters = 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->pa_bia_status_info = 0x00;
                 packet->sy_lfr_common_parameters_spare = 0x00;
                 packet->sy_lfr_common_parameters = 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;
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, data, nbBytesToSend);
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("ERR *** in BP_send *** ERR %d\n", (int) status)
                 }
             }
             void BP_send_s1_s2(char *data, rtems_id queue_id, unsigned int nbBytesToSend, unsigned int sid )
             {
                 /** This function is used to send the BP paquets when needed.
                  *
                  * @param transitionCoarseTime is the requested transition time contained in the TC_LFR_ENTER_MODE
                  *
                  * @return void
                  *
                  * SBM1 and SBM2 paquets are sent depending on the type of the LFR mode transition.
                  * BURST paquets are sent everytime.
                  *
                  */
                 rtems_status_code status;
                 // SEND PACKET
                 // before lastValidTransitionDate, the data are drops even if they are ready
                 // this guarantees that no SBM packets will be received before the requested enter mode time
                 if ( time_management_regs->coarse_time >= lastValidEnterModeTime)
                 {
                     status =  rtems_message_queue_send( queue_id, data, nbBytesToSend);
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("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,
                                                          unsigned char channel )
             {
                 //*************
                 // 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, channel );
                             compressed_spec_mat[offsetCompressed ] =
                                     ( compressed_spec_mat[ offsetCompressed ]
                                     + averaged_spec_mat[ offsetASM + k ] * fBinMask );
                         }
                         compressed_spec_mat[ offsetCompressed ] =
                                 (divider != 0.) ? compressed_spec_mat[ offsetCompressed ] / (divider * nbBinsToAverage) : 0.0;
                     }
                 }
             }
             int getFBinMask( int index, unsigned char channel )
             {
                 unsigned int indexInChar;
                 unsigned int indexInTheChar;
                 int fbin;
                 unsigned char *sy_lfr_fbins_fx_word1;
                 sy_lfr_fbins_fx_word1 = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                 switch(channel)
                 {
                 case 0:
                     sy_lfr_fbins_fx_word1 = fbins_masks.merged_fbins_mask_f0;
                     break;
                 case 1:
                     sy_lfr_fbins_fx_word1 = fbins_masks.merged_fbins_mask_f1;
                     break;
                 case 2:
                     sy_lfr_fbins_fx_word1 = fbins_masks.merged_fbins_mask_f2;
                     break;
                 default:
                     PRINTF("ERR *** in getFBinMask, wrong frequency channel")
                 }
                 indexInChar = index >> 3;
                 indexInTheChar = index - indexInChar * 8;
                 fbin = (int) ((sy_lfr_fbins_fx_word1[ NB_BYTES_PER_FREQ_MASK - 1 - indexInChar] >> indexInTheChar) & 0x1);
                 return fbin;
             }
             unsigned char acquisitionTimeIsValid( unsigned int coarseTime, unsigned int fineTime, unsigned char channel)
             {
                 u_int64_t acquisitionTime;
                 u_int64_t timecodeReference;
                 u_int64_t offsetInFineTime;
                 u_int64_t shiftInFineTime;
                 u_int64_t tBadInFineTime;
                 u_int64_t acquisitionTimeRangeMin;
                 u_int64_t acquisitionTimeRangeMax;
                 unsigned char pasFilteringIsEnabled;
                 unsigned char ret;
-                pasFilteringIsEnabled = (parameter_dump_packet.spare_sy_lfr_pas_filter_enabled & 0x01); // [0000 0001]
+                pasFilteringIsEnabled = (filterPar.spare_sy_lfr_pas_filter_enabled & 0x01); // [0000 0001]
                 ret = 1;
-                //***************************
-                // <FOR TESTING PURPOSE ONLY>
-                unsigned char   sy_lfr_pas_filter_modulus   = 4;
-                unsigned char   sy_lfr_pas_filter_offset    = 1;
-                float           sy_lfr_pas_filter_shift     = 0.5;
-                float           sy_lfr_pas_filter_tbad      = 1.0;
-                // </FOR TESTING PURPOSE ONLY>
-                //****************************
                 // compute acquisition time from caoarseTime and fineTime
                 acquisitionTime = ( ((u_int64_t)coarseTime) <<  16 )
                         + (u_int64_t) fineTime;
                 // compute the timecode reference
-                timecodeReference = (u_int64_t) (floor( ((double) coarseTime) / ((double) sy_lfr_pas_filter_modulus) )
+                timecodeReference = (u_int64_t) (floor( ((double) coarseTime) / ((double) filterPar.sy_lfr_pas_filter_modulus) )
-                        * ((double) sy_lfr_pas_filter_modulus)) * 65536;
+                        * ((double) filterPar.sy_lfr_pas_filter_modulus)) * 65536;
                 // compute the acquitionTime range
-                offsetInFineTime    = ((double) sy_lfr_pas_filter_offset)   * 65536;
+                offsetInFineTime    = ((double) filterPar.sy_lfr_pas_filter_offset)   * 65536;
-                shiftInFineTime     = ((double) sy_lfr_pas_filter_shift)    * 65536;
+                shiftInFineTime     = ((double) filterPar.sy_lfr_pas_filter_shift)    * 65536;
-                tBadInFineTime      = ((double) sy_lfr_pas_filter_tbad)     * 65536;
+                tBadInFineTime      = ((double) filterPar.sy_lfr_pas_filter_tbad)     * 65536;
                 acquisitionTimeRangeMin =
                         timecodeReference
                         + offsetInFineTime
                         + shiftInFineTime
                         - acquisitionDurations[channel];
                 acquisitionTimeRangeMax =
                         timecodeReference
                         + offsetInFineTime
                         + shiftInFineTime
                         + tBadInFineTime;
                 if ( (acquisitionTime >= acquisitionTimeRangeMin)
                      && (acquisitionTime <= acquisitionTimeRangeMax)
                      && (pasFilteringIsEnabled == 1) )
                 {
                     ret = 0;    // the acquisition time is INSIDE the range, the matrix shall be ignored
                 }
                 else
                 {
                     ret = 1;    // the acquisition time is OUTSIDE the range, the matrix can be used for the averaging
                 }
             //    printf("coarseTime = %x, fineTime = %x\n",
             //           coarseTime,
             //           fineTime);
             //    printf("[ret = %d] *** acquisitionTime = %f, Reference = %f",
             //           ret,
             //           acquisitionTime / 65536.,
             //           timecodeReference / 65536.);
             //    printf(", Min = %f, Max = %f\n",
             //           acquisitionTimeRangeMin / 65536.,
             //           acquisitionTimeRangeMax / 65536.);
                 return ret;
             }
             void init_kcoeff_sbm_from_kcoeff_norm(float *input_kcoeff, float *output_kcoeff, unsigned char nb_bins_norm)
             {
                 unsigned char bin;
                 unsigned char kcoeff;
                 for (bin=0; bin<nb_bins_norm; bin++)
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         output_kcoeff[ (bin*NB_K_COEFF_PER_BIN + kcoeff)*2     ] = input_kcoeff[ bin*NB_K_COEFF_PER_BIN + kcoeff ];
                         output_kcoeff[ (bin*NB_K_COEFF_PER_BIN + kcoeff)*2 + 1 ] = input_kcoeff[ bin*NB_K_COEFF_PER_BIN + kcoeff ];
                     }
                 }
             }

src/tc_load_dump_parameters.c +20 -4

             /** Functions to load and dump parameters in the LFR registers.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle TC related to parameter loading and dumping.\n
              * TC_LFR_LOAD_COMMON_PAR\n
              * TC_LFR_LOAD_NORMAL_PAR\n
              * TC_LFR_LOAD_BURST_PAR\n
              * TC_LFR_LOAD_SBM1_PAR\n
              * TC_LFR_LOAD_SBM2_PAR\n
              *
              */
             #include "tc_load_dump_parameters.h"
             Packet_TM_LFR_KCOEFFICIENTS_DUMP_t kcoefficients_dump_1;
             Packet_TM_LFR_KCOEFFICIENTS_DUMP_t kcoefficients_dump_2;
             ring_node kcoefficient_node_1;
             ring_node kcoefficient_node_2;
             int action_load_common_par(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function updates the LFR registers with the incoming common parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  *
                  */
                 parameter_dump_packet.sy_lfr_common_parameters_spare    = TC->dataAndCRC[0];
                 parameter_dump_packet.sy_lfr_common_parameters          = TC->dataAndCRC[1];
                 set_wfp_data_shaping( );
                 return LFR_SUCCESSFUL;
             }
             int action_load_normal_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming normal parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 int flag;
                 rtems_status_code status;
                 flag = LFR_SUCCESSFUL;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) ||
                      (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 // CHECK THE PARAMETERS SET CONSISTENCY
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = check_normal_par_consistency( TC, queue_id );
                 }
                 // SET THE PARAMETERS IF THEY ARE CONSISTENT
                 if (flag == LFR_SUCCESSFUL)
                 {
                     result = set_sy_lfr_n_swf_l( TC );
                     result = set_sy_lfr_n_swf_p( TC );
                     result = set_sy_lfr_n_bp_p0( TC );
                     result = set_sy_lfr_n_bp_p1( TC );
                     result = set_sy_lfr_n_asm_p( TC );
                     result = set_sy_lfr_n_cwf_long_f3( TC );
                 }
                 return flag;
             }
             int action_load_burst_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming burst parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_b_bp_p0;
                 unsigned char sy_lfr_b_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_BURST ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                 sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                 // sy_lfr_b_bp_p0 shall not be lower than its default value
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_b_bp_p0 < DEFAULT_SY_LFR_B_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P0+10, sy_lfr_b_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_b_bp_p1 shall not be lower than its default value
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_b_bp_p1 < DEFAULT_SY_LFR_B_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P1+10, sy_lfr_b_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //****************************************************************
                 // check the consistency between sy_lfr_b_bp_p0 and sy_lfr_b_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                     sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                     aux = ( (float ) sy_lfr_b_bp_p1 / sy_lfr_b_bp_p0 ) - floor(sy_lfr_b_bp_p1 / sy_lfr_b_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_B_BP_P0+10, sy_lfr_b_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_b_bp_p0( TC );
                     flag = set_sy_lfr_b_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_sbm1_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm1 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_s1_bp_p0;
                 unsigned char sy_lfr_s1_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_SBM1 ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_s1_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P0 ];
                 sy_lfr_s1_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P1 ];
                 // sy_lfr_s1_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s1_bp_p0 < DEFAULT_SY_LFR_S1_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P0+10, sy_lfr_s1_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_s1_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s1_bp_p1 < DEFAULT_SY_LFR_S1_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P1+10, sy_lfr_s1_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //******************************************************************
                 // check the consistency between sy_lfr_s1_bp_p0 and sy_lfr_s1_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_s1_bp_p1 / (sy_lfr_s1_bp_p0*0.25) ) - floor(sy_lfr_s1_bp_p1 / (sy_lfr_s1_bp_p0*0.25));
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S1_BP_P0+10, sy_lfr_s1_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_s1_bp_p0( TC );
                     flag = set_sy_lfr_s1_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_sbm2_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_s2_bp_p0;
                 unsigned char sy_lfr_s2_bp_p1;
                 float aux;
                 flag = LFR_SUCCESSFUL;
                 if ( lfrCurrentMode == LFR_MODE_SBM2 ) {
                     status = send_tm_lfr_tc_exe_not_executable( TC, queue_id );
                     flag = LFR_DEFAULT;
                 }
                 sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                 sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                 // sy_lfr_s2_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s2_bp_p0 < DEFAULT_SY_LFR_S2_BP_P0 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P0+10, sy_lfr_s2_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_s2_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_s2_bp_p1 < DEFAULT_SY_LFR_S2_BP_P1 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P1+10, sy_lfr_s2_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //******************************************************************
                 // check the consistency between sy_lfr_s2_bp_p0 and sy_lfr_s2_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                     sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                     aux = ( (float ) sy_lfr_s2_bp_p1 / sy_lfr_s2_bp_p0 ) - floor(sy_lfr_s2_bp_p1 / sy_lfr_s2_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_S2_BP_P0+10, sy_lfr_s2_bp_p0 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // SET THE PARAMETERS
                 if (flag == LFR_SUCCESSFUL)
                 {
                     flag = set_sy_lfr_s2_bp_p0( TC );
                     flag = set_sy_lfr_s2_bp_p1( TC );
                 }
                 return flag;
             }
             int action_load_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = set_sy_lfr_kcoeff( TC, queue_id );
                 return flag;
             }
             int action_load_fbins_mask(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = set_sy_lfr_fbins( TC );
                 return flag;
             }
             int action_load_filter_par(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int flag;
                 flag = LFR_DEFAULT;
                 flag = check_sy_lfr_filter_parameters( TC, queue_id );
                 if (flag  == LFR_SUCCESSFUL)
                 {
                     parameter_dump_packet.spare_sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ];
                     parameter_dump_packet.sy_lfr_pas_filter_modulus         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[0]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 0 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[1]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 1 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[2]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 2 ];
                     parameter_dump_packet.sy_lfr_pas_filter_tbad[3]         = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD + 3 ];
                     parameter_dump_packet.sy_lfr_pas_filter_offset          = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[0]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 0 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[1]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 1 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[2]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 2 ];
                     parameter_dump_packet.sy_lfr_pas_filter_shift[3]        = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT + 3 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[0]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 0 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[1]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 1 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[2]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 2 ];
                     parameter_dump_packet.sy_lfr_sc_rw_delta_f[3]           = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F + 3 ];
+                    //****************************
+                    // store PAS filter parameters
+                    // sy_lfr_pas_filter_enabled
+                    filterPar.spare_sy_lfr_pas_filter_enabled   = parameter_dump_packet.spare_sy_lfr_pas_filter_enabled;
+                    // sy_lfr_pas_filter_modulus
+                    filterPar.sy_lfr_pas_filter_modulus         = parameter_dump_packet.sy_lfr_pas_filter_modulus;
+                    // sy_lfr_pas_filter_tbad
+                    copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_pas_filter_tbad,
+                                     parameter_dump_packet.sy_lfr_pas_filter_tbad );
+                    // sy_lfr_pas_filter_offset
+                    filterPar.sy_lfr_pas_filter_offset          = parameter_dump_packet.sy_lfr_pas_filter_offset;
+                    // sy_lfr_pas_filter_shift
+                    copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_pas_filter_shift,
+                                     parameter_dump_packet.sy_lfr_pas_filter_shift );
+                    //****************************************************
                     // store the parameter sy_lfr_sc_rw_delta_f as a float
-                    copyFloatByChar( (unsigned char*) &sy_lfr_sc_rw_delta_f,
+                    copyFloatByChar( (unsigned char*) &filterPar.sy_lfr_sc_rw_delta_f,
-                                     (unsigned char*) &parameter_dump_packet.sy_lfr_sc_rw_delta_f[0] );
+                                     parameter_dump_packet.sy_lfr_sc_rw_delta_f );
                 }
                 return flag;
             }
             int action_dump_kcoefficients(ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time)
             {
                 /** This function updates the LFR registers with the incoming sbm2 parameters.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 unsigned int address;
                 rtems_status_code status;
                 unsigned int freq;
                 unsigned int bin;
                 unsigned int coeff;
                 unsigned char *kCoeffPtr;
                 unsigned char *kCoeffDumpPtr;
                 // for each sy_lfr_kcoeff_frequency there is 32 kcoeff
                 // F0 => 11 bins
                 // F1 => 13 bins
                 // F2 => 12 bins
                 // 36 bins to dump in two packets (30 bins max per packet)
                 //*********
                 // PACKET 1
                 // 11 F0 bins, 13 F1 bins and 6 F2 bins
                 kcoefficients_dump_1.destinationID = TC->sourceID;
                 increment_seq_counter_destination_id_dump( kcoefficients_dump_1.packetSequenceControl, TC->sourceID );
                 for( freq=0;
                      freq<NB_BINS_COMPRESSED_SM_F0;
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1] = freq;
                     bin = freq;
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f0_norm);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f0_norm[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 for( freq=NB_BINS_COMPRESSED_SM_F0;
                      freq<(NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1);
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1 ] = freq;
                     bin = freq - NB_BINS_COMPRESSED_SM_F0;
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f1_norm);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f1_norm[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 for( freq=(NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1);
                      freq<(NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1+6);
                      freq++ )
                 {
                     kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1 ] = freq;
                     bin = freq - (NB_BINS_COMPRESSED_SM_F0+NB_BINS_COMPRESSED_SM_F1);
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f2);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_1.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f2[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 kcoefficients_dump_1.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 kcoefficients_dump_1.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 kcoefficients_dump_1.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 kcoefficients_dump_1.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 kcoefficients_dump_1.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 kcoefficients_dump_1.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 kcoefficient_node_1.status = 1;
                 address = (unsigned int) &kcoefficient_node_1;
                 status =  rtems_message_queue_send( queue_id, &address, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump_kcoefficients *** ERR sending packet 1 , code %d", status)
                 }
                  //********
                 // PACKET 2
                 // 6 F2 bins
                 kcoefficients_dump_2.destinationID = TC->sourceID;
                 increment_seq_counter_destination_id_dump( kcoefficients_dump_2.packetSequenceControl, TC->sourceID );
                 for( freq=0; freq<6; freq++ )
                 {
                     kcoefficients_dump_2.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + 1 ] = NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 + 6 + freq;
                     bin = freq + 6;
             //        printKCoefficients( freq, bin, k_coeff_intercalib_f2);
                     for ( coeff=0; coeff<NB_K_COEFF_PER_BIN; coeff++ )
                     {
                         kCoeffDumpPtr = (unsigned char*) &kcoefficients_dump_2.kcoeff_blks[ freq*KCOEFF_BLK_SIZE + coeff*NB_BYTES_PER_FLOAT + 2 ]; // 2 for the kcoeff_frequency
                         kCoeffPtr     = (unsigned char*) &k_coeff_intercalib_f2[ (bin*NB_K_COEFF_PER_BIN) + coeff ];
                         copyFloatByChar( kCoeffDumpPtr, kCoeffPtr );
                     }
                 }
                 kcoefficients_dump_2.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 kcoefficients_dump_2.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 kcoefficients_dump_2.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 kcoefficients_dump_2.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 kcoefficients_dump_2.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 kcoefficients_dump_2.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 kcoefficient_node_2.status = 1;
                 address = (unsigned int) &kcoefficient_node_2;
                 status =  rtems_message_queue_send( queue_id, &address, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump_kcoefficients *** ERR sending packet 2, code %d", status)
                 }
                 return status;
             }
             int action_dump_par( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 /** This function dumps the LFR parameters by sending the appropriate TM packet to the dedicated RTEMS message queue.
                  *
                  * @param queue_id is the id of the queue which handles TM related to this execution step.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - message sent successfully
                  * - RTEMS_INVALID_ID - invalid queue id
                  * - RTEMS_INVALID_SIZE - invalid message size
                  * - RTEMS_INVALID_ADDRESS - buffer is NULL
                  * - RTEMS_UNSATISFIED - out of message buffers
                  * - RTEMS_TOO_MANY - queue s limit has been reached
                  *
                  */
                 int status;
                 increment_seq_counter_destination_id_dump( parameter_dump_packet.packetSequenceControl, TC->sourceID );
                 parameter_dump_packet.destinationID = TC->sourceID;
                 // UPDATE TIME
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 // SEND DATA
                 status =  rtems_message_queue_send( queue_id, &parameter_dump_packet,
                                                     PACKET_LENGTH_PARAMETER_DUMP + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                 if (status != RTEMS_SUCCESSFUL) {
                     PRINTF1("in action_dump *** ERR sending packet, code %d", status)
                 }
                 return status;
             }
             //***********************
             // NORMAL MODE PARAMETERS
             int check_normal_par_consistency( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 unsigned char msb;
                 unsigned char lsb;
                 int flag;
                 float aux;
                 rtems_status_code status;
                 unsigned int sy_lfr_n_swf_l;
                 unsigned int sy_lfr_n_swf_p;
                 unsigned int sy_lfr_n_asm_p;
                 unsigned char sy_lfr_n_bp_p0;
                 unsigned char sy_lfr_n_bp_p1;
                 unsigned char sy_lfr_n_cwf_long_f3;
                 flag = LFR_SUCCESSFUL;
                 //***************
                 // get parameters
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L+1 ];
                 sy_lfr_n_swf_l = msb * 256 + lsb;
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P+1 ];
                 sy_lfr_n_swf_p = msb * 256  + lsb;
                 msb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P ];
                 lsb = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P+1 ];
                 sy_lfr_n_asm_p = msb * 256  + lsb;
                 sy_lfr_n_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P0 ];
                 sy_lfr_n_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P1 ];
                 sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_CWF_LONG_F3 ];
                 //******************
                 // check consistency
                 // sy_lfr_n_swf_l
                 if (sy_lfr_n_swf_l != 2048)
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_SWF_L+10, sy_lfr_n_swf_l );
                     flag = WRONG_APP_DATA;
                 }
                 // sy_lfr_n_swf_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( sy_lfr_n_swf_p < 22 )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_SWF_P+10, sy_lfr_n_swf_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_bp_p0 < DFLT_SY_LFR_N_BP_P0)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P0+10, sy_lfr_n_bp_p0 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_asm_p
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_asm_p == 0)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_ASM_P+10, sy_lfr_n_asm_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_asm_p shall be a whole multiple of sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_n_asm_p / sy_lfr_n_bp_p0 ) - floor(sy_lfr_n_asm_p / sy_lfr_n_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_ASM_P+10, sy_lfr_n_asm_p );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p1
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if (sy_lfr_n_bp_p1 < DFLT_SY_LFR_N_BP_P1)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P1+10, sy_lfr_n_bp_p1 );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 // sy_lfr_n_bp_p1 shall be a whole multiple of sy_lfr_n_bp_p0
                 if (flag == LFR_SUCCESSFUL)
                 {
                     aux = ( (float ) sy_lfr_n_bp_p1 / sy_lfr_n_bp_p0 ) - floor(sy_lfr_n_bp_p1 / sy_lfr_n_bp_p0);
                     if (aux > FLOAT_EQUAL_ZERO)
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_N_BP_P1+10, sy_lfr_n_bp_p1 );
                         flag = LFR_DEFAULT;
                     }
                 }
                 // sy_lfr_n_cwf_long_f3
                 return flag;
             }
             int set_sy_lfr_n_swf_l( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the number of points of a snapshot (sy_lfr_n_swf_l).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L   ];
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_L+1 ];
                 return result;
             }
             int set_sy_lfr_n_swf_p(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two snapshots, in s (sy_lfr_n_swf_p).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P   ];
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_SWF_P+1 ];
                 return result;
             }
             int set_sy_lfr_n_asm_p( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two full spectral matrices transmission, in s (SY_LFR_N_ASM_P).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int result;
                 result = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P   ];
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_ASM_P+1 ];
                 return result;
             }
             int set_sy_lfr_n_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (DFLT_SY_LFR_N_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_n_bp_p1(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets (autocorrelation + crosscorrelation), in s (sy_lfr_n_bp_p1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_BP_P1 ];
                 return status;
             }
             int set_sy_lfr_n_cwf_long_f3(ccsdsTelecommandPacket_t *TC )
             {
                 /** This function allows to switch from CWF_F3 packets to CWF_LONG_F3 packets.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_N_CWF_LONG_F3 ];
                 return status;
             }
             //**********************
             // BURST MODE PARAMETERS
             int set_sy_lfr_b_bp_p0(ccsdsTelecommandPacket_t *TC)
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_B_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_b_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_b_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_B_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_B_BP_P1 ];
                 return status;
             }
             //*********************
             // SBM1 MODE PARAMETERS
             int set_sy_lfr_s1_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S1_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_s1_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S1_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S1_BP_P1 ];
                 return status;
             }
             //*********************
             // SBM2 MODE PARAMETERS
             int set_sy_lfr_s2_bp_p0( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P0).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P0 ];
                 return status;
             }
             int set_sy_lfr_s2_bp_p1( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function sets the time between two basic parameter sets, in s (SY_LFR_S2_BP_P1).
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  * @param queue_id is the id of the queue which handles TM related to this execution step
                  *
                  */
                 int status;
                 status = LFR_SUCCESSFUL;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_S2_BP_P1 ];
                 return status;
             }
             //*******************
             // TC_LFR_UPDATE_INFO
             unsigned int check_update_info_hk_lfr_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == LFR_MODE_STANDBY) || (mode == LFR_MODE_NORMAL)
                      || (mode == LFR_MODE_BURST)
                      || (mode == LFR_MODE_SBM1) || (mode == LFR_MODE_SBM2))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_tds_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == TDS_MODE_STANDBY) || (mode == TDS_MODE_NORMAL)
                      || (mode == TDS_MODE_BURST)
                      || (mode == TDS_MODE_SBM1) || (mode == TDS_MODE_SBM2)
                      || (mode == TDS_MODE_LFM))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             unsigned int check_update_info_hk_thr_mode( unsigned char mode )
             {
                 unsigned int status;
                 if ( (mode == THR_MODE_STANDBY) || (mode == THR_MODE_NORMAL)
                      || (mode == THR_MODE_BURST))
                 {
                     status = LFR_SUCCESSFUL;
                 }
                 else
                 {
                     status = LFR_DEFAULT;
                 }
                 return status;
             }
             void getReactionWheelsFrequencies( ccsdsTelecommandPacket_t *TC )
             {
                 /** This function get the reaction wheels frequencies in the incoming TC_LFR_UPDATE_INFO and copy the values locally.
                  *
                  * @param TC points to the TeleCommand packet that is being processed
                  *
                  */
                 unsigned char * bytePosPtr; // pointer to the beginning of the incoming TC packet
                 bytePosPtr = (unsigned char *) &TC->packetID;
                 // cp_rpw_sc_rw1_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw1_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F1 ] );
                 // cp_rpw_sc_rw1_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw1_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW1_F2 ] );
                 // cp_rpw_sc_rw2_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw2_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F1 ] );
                 // cp_rpw_sc_rw2_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw2_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW2_F2 ] );
                 // cp_rpw_sc_rw3_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw3_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F1 ] );
                 // cp_rpw_sc_rw3_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw3_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW3_F2 ] );
                 // cp_rpw_sc_rw4_f1
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw4_f1,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F1 ] );
                 // cp_rpw_sc_rw4_f2
                 copyFloatByChar( (unsigned char*) &cp_rpw_sc_rw4_f2,
                                  (unsigned char*) &bytePosPtr[ BYTE_POS_UPDATE_INFO_CP_RPW_SC_RW4_F2 ] );
             }
             void setFBinMask( unsigned char *fbins_mask, float rw_f, unsigned char deltaFreq, unsigned char flag )
             {
                 /** This function executes specific actions when a TC_LFR_UPDATE_INFO TeleCommand has been received.
                  *
                  * @param fbins_mask
                  * @param rw_f is the reaction wheel frequency to filter
                  * @param delta_f is the frequency step between the frequency bins, it depends on the frequency channel
                  * @param flag [true] filtering enabled [false] filtering disabled
                  *
                  * @return void
                  *
                  */
                 float fmin;
                 float fMAX;
                 int binBelow;
                 int binAbove;
                 unsigned int whichByte;
                 unsigned char selectedByte;
                 int bin;
                 whichByte = 0;
                 bin = 0;
                 // compute the frequency range to filter [ rw_f - delta_f/2; rw_f + delta_f/2 ]
-                fmin = rw_f - sy_lfr_sc_rw_delta_f / 2.;
+                fmin = rw_f - filterPar.sy_lfr_sc_rw_delta_f / 2.;
-                fMAX = rw_f + sy_lfr_sc_rw_delta_f / 2.;
+                fMAX = rw_f + filterPar.sy_lfr_sc_rw_delta_f / 2.;
                 // compute the index of the frequency bin immediately below fmin
                 binBelow = (int) ( floor( ((double) fmin) / ((double) deltaFreq)) );
                 // compute the index of the frequency bin immediately above fMAX
                 binAbove = (int) ( floor( ((double) fMAX) / ((double) deltaFreq)) );
                 for (bin = binBelow; bin <= binAbove; bin++)
                 {
                     if ( (bin >= 0) && (bin<=127) )
                     {
                         if (flag == 1)
                         {
                             whichByte = bin >> 3;   // division by 8
                             selectedByte = (unsigned char) ( 1 << (bin - (whichByte * 8)) );
                             fbins_mask[whichByte] = fbins_mask[whichByte] & (~selectedByte);
                         }
                     }
                 }
             }
             void build_sy_lfr_rw_mask( unsigned int channel )
             {
                 unsigned char local_rw_fbins_mask[16];
                 unsigned char *maskPtr;
                 double deltaF;
                 unsigned k;
                 k = 0;
                 maskPtr = NULL;
                 deltaF = 1.;
                 switch (channel)
                 {
                 case 0:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask_f0_word1;
                     deltaF = 96.;
                     break;
                 case 1:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask_f1_word1;
                     deltaF = 16.;
                     break;
                 case 2:
                     maskPtr = parameter_dump_packet.sy_lfr_rw_mask_f2_word1;
                     deltaF = 1.;
                     break;
                 default:
                     break;
                 }
                 for (k = 0; k < 16; k++)
                 {
                     local_rw_fbins_mask[k] = 0xff;
                 }
                 // RW1 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x80) >> 7 );   // [1000 0000]
                 // RW1 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x40) >> 6 );   // [0100 0000]
                 // RW2 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw2_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x20) >> 5 );   // [0010 0000]
                 // RW2 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw2_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x10) >> 4 );   // [0001 0000]
                 // RW3 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw3_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x08) >> 3 );   // [0000 1000]
                 // RW3 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw3_f2, deltaF, (cp_rpw_sc_rw_f_flags & 0x04) >> 2 );   // [0000 0100]
                 // RW4 F1
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw4_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x02) >> 1 );   // [0000 0010]
                 // RW4 F2
                 setFBinMask( local_rw_fbins_mask, cp_rpw_sc_rw1_f1, deltaF, (cp_rpw_sc_rw_f_flags & 0x01)       );  // [0000 0001]
                 // update the value of the fbins related to reaction wheels frequency filtering
                 if (maskPtr != NULL)
                 {
                     for (k = 0; k < 16; k++)
                     {
                         maskPtr[k] = local_rw_fbins_mask[k];
                     }
                 }
             }
             void build_sy_lfr_rw_masks( void )
             {
                 build_sy_lfr_rw_mask( 0 );
                 build_sy_lfr_rw_mask( 1 );
                 build_sy_lfr_rw_mask( 2 );
                 merge_fbins_masks();
             }
             void merge_fbins_masks( void )
             {
                 unsigned char k;
                 unsigned char *fbins_f0;
                 unsigned char *fbins_f1;
                 unsigned char *fbins_f2;
                 unsigned char *rw_mask_f0;
                 unsigned char *rw_mask_f1;
                 unsigned char *rw_mask_f2;
                 fbins_f0 = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                 fbins_f1 = parameter_dump_packet.sy_lfr_fbins_f1_word1;
                 fbins_f2 = parameter_dump_packet.sy_lfr_fbins_f2_word1;
                 rw_mask_f0 = parameter_dump_packet.sy_lfr_rw_mask_f0_word1;
                 rw_mask_f1 = parameter_dump_packet.sy_lfr_rw_mask_f1_word1;
                 rw_mask_f2 = parameter_dump_packet.sy_lfr_rw_mask_f2_word1;
                 for( k=0; k < 16; k++ )
                 {
                     fbins_masks.merged_fbins_mask_f0[k] = fbins_f0[k] & rw_mask_f0[k];
                     fbins_masks.merged_fbins_mask_f1[k] = fbins_f1[k] & rw_mask_f1[k];
                     fbins_masks.merged_fbins_mask_f2[k] = fbins_f2[k] & rw_mask_f2[k];
                 }
             }
             //***********
             // FBINS MASK
             int set_sy_lfr_fbins( ccsdsTelecommandPacket_t *TC )
             {
                 int status;
                 unsigned int k;
                 unsigned char *fbins_mask_dump;
                 unsigned char *fbins_mask_TC;
                 status = LFR_SUCCESSFUL;
                 fbins_mask_dump = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                 fbins_mask_TC = TC->dataAndCRC;
                 for (k=0; k < NB_FBINS_MASKS * NB_BYTES_PER_FBINS_MASK; k++)
                 {
                     fbins_mask_dump[k] = fbins_mask_TC[k];
                 }
                 return status;
             }
             //***************************
             // TC_LFR_LOAD_PAS_FILTER_PAR
             int check_sy_lfr_filter_parameters( ccsdsTelecommandPacket_t *TC, rtems_id queue_id )
             {
                 int flag;
                 rtems_status_code status;
                 unsigned char sy_lfr_pas_filter_enabled;
                 unsigned char sy_lfr_pas_filter_modulus;
                 float sy_lfr_pas_filter_tbad;
                 unsigned char sy_lfr_pas_filter_offset;
                 float sy_lfr_pas_filter_shift;
                 float sy_lfr_sc_rw_delta_f;
                 char *parPtr;
                 flag = LFR_SUCCESSFUL;
                 sy_lfr_pas_filter_tbad  = 0.0;
                 sy_lfr_pas_filter_shift = 0.0;
                 sy_lfr_sc_rw_delta_f    = 0.0;
                 parPtr = NULL;
                 //***************
                 // get parameters
                 sy_lfr_pas_filter_enabled   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_ENABLED ] & 0x01;   // [0000 0001]
                 sy_lfr_pas_filter_modulus   = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS ];
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_pas_filter_tbad,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD ]
                             );
                 sy_lfr_pas_filter_offset    = TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET ];
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_pas_filter_shift,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT ]
                             );
                 copyFloatByChar(
                             (unsigned char*) &sy_lfr_sc_rw_delta_f,
                             (unsigned char*) &TC->dataAndCRC[ DATAFIELD_POS_SY_LFR_SC_RW_DELTA_F ]
                             );
                 //******************
                 // CHECK CONSISTENCY
                 //**************************
                 // sy_lfr_pas_filter_enabled
                 // nothing to check, value is 0 or 1
                 //**************************
                 // sy_lfr_pas_filter_modulus
                 if ( (sy_lfr_pas_filter_modulus < 4) || (sy_lfr_pas_filter_modulus > 8) )
                 {
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_MODULUS+10, sy_lfr_pas_filter_modulus );
                     flag = WRONG_APP_DATA;
                 }
                 //***********************
                 // sy_lfr_pas_filter_tbad
                 if ( (sy_lfr_pas_filter_tbad < 0.0) || (sy_lfr_pas_filter_tbad > 4.0) )
                 {
                     parPtr = (char*) &sy_lfr_pas_filter_tbad;
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_TBAD+10, parPtr[3] );
                     flag = WRONG_APP_DATA;
                 }
                 //*************************
                 // sy_lfr_pas_filter_offset
                 if (flag == LFR_SUCCESSFUL)
                 {
                     if ( (sy_lfr_pas_filter_offset < 0) || (sy_lfr_pas_filter_offset > 7) )
                     {
                         status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_OFFSET+10, sy_lfr_pas_filter_offset );
                         flag = WRONG_APP_DATA;
                     }
                 }
                 //************************
                 // sy_lfr_pas_filter_shift
                 if ( (sy_lfr_pas_filter_shift < 0.0) || (sy_lfr_pas_filter_shift > 1.0) )
                 {
                     parPtr = (char*) &sy_lfr_pas_filter_shift;
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_PAS_FILTER_SHIFT+10, parPtr[3] );
                     flag = WRONG_APP_DATA;
                 }
                 //*********************
                 // sy_lfr_sc_rw_delta_f
                 // nothing to check, no default value in the ICD
                 return flag;
             }
             //**************
             // KCOEFFICIENTS
             int set_sy_lfr_kcoeff( ccsdsTelecommandPacket_t *TC,rtems_id queue_id )
             {
                 unsigned int kcoeff;
                 unsigned short sy_lfr_kcoeff_frequency;
                 unsigned short bin;
                 unsigned short *freqPtr;
                 float *kcoeffPtr_norm;
                 float *kcoeffPtr_sbm;
                 int status;
                 unsigned char *kcoeffLoadPtr;
                 unsigned char *kcoeffNormPtr;
                 unsigned char *kcoeffSbmPtr_a;
                 unsigned char *kcoeffSbmPtr_b;
                 status = LFR_SUCCESSFUL;
                 kcoeffPtr_norm = NULL;
                 kcoeffPtr_sbm  = NULL;
                 bin = 0;
                 freqPtr = (unsigned short *) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY];
                 sy_lfr_kcoeff_frequency = *freqPtr;
                 if ( sy_lfr_kcoeff_frequency >= NB_BINS_COMPRESSED_SM )
                 {
                     PRINTF1("ERR *** in set_sy_lfr_kcoeff_frequency *** sy_lfr_kcoeff_frequency = %d\n", sy_lfr_kcoeff_frequency)
                     status = send_tm_lfr_tc_exe_inconsistent( TC, queue_id, DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY + 10 + 1,
                                                               TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_FREQUENCY + 1]  ); // +1 to get the LSB instead of the MSB
                     status = LFR_DEFAULT;
                 }
                 else
                 {
                     if       ( ( sy_lfr_kcoeff_frequency >= 0 )
                             && ( sy_lfr_kcoeff_frequency < NB_BINS_COMPRESSED_SM_F0 ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f0_norm;
                         kcoeffPtr_sbm  = k_coeff_intercalib_f0_sbm;
                         bin   = sy_lfr_kcoeff_frequency;
                     }
                     else if   ( ( sy_lfr_kcoeff_frequency >= NB_BINS_COMPRESSED_SM_F0 )
                              && ( sy_lfr_kcoeff_frequency < (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1) ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f1_norm;
                         kcoeffPtr_sbm  = k_coeff_intercalib_f1_sbm;
                         bin   = sy_lfr_kcoeff_frequency -  NB_BINS_COMPRESSED_SM_F0;
                     }
                     else if   ( ( sy_lfr_kcoeff_frequency >= (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1) )
                              && ( sy_lfr_kcoeff_frequency <  (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1 + NB_BINS_COMPRESSED_SM_F2) ) )
                     {
                         kcoeffPtr_norm = k_coeff_intercalib_f2;
                         kcoeffPtr_sbm  = NULL;
                         bin   = sy_lfr_kcoeff_frequency - (NB_BINS_COMPRESSED_SM_F0 + NB_BINS_COMPRESSED_SM_F1);
                     }
                 }
                 if (kcoeffPtr_norm != NULL )    // update K coefficient for NORMAL data products
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         // destination
                         kcoeffNormPtr = (unsigned char*) &kcoeffPtr_norm[ (bin * NB_K_COEFF_PER_BIN) + kcoeff ];
                         // source
                         kcoeffLoadPtr = (unsigned char*) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_1 + NB_BYTES_PER_FLOAT * kcoeff];
                         // copy source to destination
                         copyFloatByChar( kcoeffNormPtr,  kcoeffLoadPtr );
                     }
                 }
                 if (kcoeffPtr_sbm != NULL )     // update K coefficient for SBM data products
                 {
                     for (kcoeff=0; kcoeff<NB_K_COEFF_PER_BIN; kcoeff++)
                     {
                         // destination
                         kcoeffSbmPtr_a= (unsigned char*) &kcoeffPtr_sbm[ ( (bin * NB_K_COEFF_PER_BIN) + kcoeff) * 2     ];
                         kcoeffSbmPtr_b= (unsigned char*) &kcoeffPtr_sbm[ ( (bin * NB_K_COEFF_PER_BIN) + kcoeff) * 2 + 1 ];
                         // source
                         kcoeffLoadPtr = (unsigned char*) &TC->dataAndCRC[DATAFIELD_POS_SY_LFR_KCOEFF_1 + NB_BYTES_PER_FLOAT * kcoeff];
                         // copy source to destination
                         copyFloatByChar( kcoeffSbmPtr_a, kcoeffLoadPtr );
                         copyFloatByChar( kcoeffSbmPtr_b, kcoeffLoadPtr );
                     }
                 }
             //    print_k_coeff();
                 return status;
             }
             void copyFloatByChar( unsigned char *destination, unsigned char *source )
             {
                 destination[0] = source[0];
                 destination[1] = source[1];
                 destination[2] = source[2];
                 destination[3] = source[3];
             }
             //**********
             // init dump
             void init_parameter_dump( void )
             {
                 /** This function initialize the parameter_dump_packet global variable with default values.
                  *
                  */
                 unsigned int k;
                 parameter_dump_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 parameter_dump_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 parameter_dump_packet.reserved = CCSDS_RESERVED;
                 parameter_dump_packet.userApplication = CCSDS_USER_APP;
                 parameter_dump_packet.packetID[0] = (unsigned char) (APID_TM_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetID[1] = (unsigned char) APID_TM_PARAMETER_DUMP;
                 parameter_dump_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 parameter_dump_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 parameter_dump_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_PARAMETER_DUMP >> 8);
                 parameter_dump_packet.packetLength[1] = (unsigned char) PACKET_LENGTH_PARAMETER_DUMP;
                 // DATA FIELD HEADER
                 parameter_dump_packet.spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 parameter_dump_packet.serviceType = TM_TYPE_PARAMETER_DUMP;
                 parameter_dump_packet.serviceSubType = TM_SUBTYPE_PARAMETER_DUMP;
                 parameter_dump_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 parameter_dump_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 parameter_dump_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 parameter_dump_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 parameter_dump_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 parameter_dump_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 parameter_dump_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 parameter_dump_packet.sid = SID_PARAMETER_DUMP;
                 //******************
                 // COMMON PARAMETERS
                 parameter_dump_packet.sy_lfr_common_parameters_spare    = DEFAULT_SY_LFR_COMMON0;
                 parameter_dump_packet.sy_lfr_common_parameters          = DEFAULT_SY_LFR_COMMON1;
                 //******************
                 // NORMAL PARAMETERS
                 parameter_dump_packet.sy_lfr_n_swf_l[0] = (unsigned char) (DFLT_SY_LFR_N_SWF_L >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_l[1] = (unsigned char) (DFLT_SY_LFR_N_SWF_L     );
                 parameter_dump_packet.sy_lfr_n_swf_p[0] = (unsigned char) (DFLT_SY_LFR_N_SWF_P >> 8);
                 parameter_dump_packet.sy_lfr_n_swf_p[1] = (unsigned char) (DFLT_SY_LFR_N_SWF_P     );
                 parameter_dump_packet.sy_lfr_n_asm_p[0] = (unsigned char) (DFLT_SY_LFR_N_ASM_P >> 8);
                 parameter_dump_packet.sy_lfr_n_asm_p[1] = (unsigned char) (DFLT_SY_LFR_N_ASM_P     );
                 parameter_dump_packet.sy_lfr_n_bp_p0 = (unsigned char) DFLT_SY_LFR_N_BP_P0;
                 parameter_dump_packet.sy_lfr_n_bp_p1 = (unsigned char) DFLT_SY_LFR_N_BP_P1;
                 parameter_dump_packet.sy_lfr_n_cwf_long_f3 = (unsigned char) DFLT_SY_LFR_N_CWF_LONG_F3;
                 //*****************
                 // BURST PARAMETERS
                 parameter_dump_packet.sy_lfr_b_bp_p0 = (unsigned char) DEFAULT_SY_LFR_B_BP_P0;
                 parameter_dump_packet.sy_lfr_b_bp_p1 = (unsigned char) DEFAULT_SY_LFR_B_BP_P1;
                 //****************
                 // SBM1 PARAMETERS
                 parameter_dump_packet.sy_lfr_s1_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P0; // min value is 0.25 s for the period
                 parameter_dump_packet.sy_lfr_s1_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S1_BP_P1;
                 //****************
                 // SBM2 PARAMETERS
                 parameter_dump_packet.sy_lfr_s2_bp_p0 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P0;
                 parameter_dump_packet.sy_lfr_s2_bp_p1 = (unsigned char) DEFAULT_SY_LFR_S2_BP_P1;
                 //************
                 // FBINS MASKS
                 for (k=0; k < NB_FBINS_MASKS * NB_BYTES_PER_FBINS_MASK; k++)
                 {
                     parameter_dump_packet.sy_lfr_fbins_f0_word1[k] = 0xff;
                 }
             }
             void init_kcoefficients_dump( void )
             {
                 init_kcoefficients_dump_packet( &kcoefficients_dump_1, 1, 30 );
                 init_kcoefficients_dump_packet( &kcoefficients_dump_2, 2, 6  );
                 kcoefficient_node_1.previous = NULL;
                 kcoefficient_node_1.next = NULL;
                 kcoefficient_node_1.sid = TM_CODE_K_DUMP;
                 kcoefficient_node_1.coarseTime = 0x00;
                 kcoefficient_node_1.fineTime = 0x00;
                 kcoefficient_node_1.buffer_address = (int) &kcoefficients_dump_1;
                 kcoefficient_node_1.status = 0x00;
                 kcoefficient_node_2.previous = NULL;
                 kcoefficient_node_2.next = NULL;
                 kcoefficient_node_2.sid = TM_CODE_K_DUMP;
                 kcoefficient_node_2.coarseTime = 0x00;
                 kcoefficient_node_2.fineTime = 0x00;
                 kcoefficient_node_2.buffer_address = (int) &kcoefficients_dump_2;
                 kcoefficient_node_2.status = 0x00;
             }
             void init_kcoefficients_dump_packet( Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump, unsigned char pkt_nr, unsigned char blk_nr )
             {
                 unsigned int k;
                 unsigned int packetLength;
                 packetLength = blk_nr * 130 + 20 - CCSDS_TC_TM_PACKET_OFFSET; // 4 bytes for the CCSDS header
                 kcoefficients_dump->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 kcoefficients_dump->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 kcoefficients_dump->reserved = CCSDS_RESERVED;
                 kcoefficients_dump->userApplication = CCSDS_USER_APP;
                 kcoefficients_dump->packetID[0] = (unsigned char) (APID_TM_PARAMETER_DUMP >> 8);;
                 kcoefficients_dump->packetID[1] = (unsigned char) APID_TM_PARAMETER_DUMP;;
                 kcoefficients_dump->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 kcoefficients_dump->packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 kcoefficients_dump->packetLength[0] = (unsigned char) (packetLength >> 8);
                 kcoefficients_dump->packetLength[1] = (unsigned char) packetLength;
                 // DATA FIELD HEADER
                 kcoefficients_dump->spare1_pusVersion_spare2 = SPARE1_PUSVERSION_SPARE2;
                 kcoefficients_dump->serviceType = TM_TYPE_K_DUMP;
                 kcoefficients_dump->serviceSubType = TM_SUBTYPE_K_DUMP;
                 kcoefficients_dump->destinationID= TM_DESTINATION_ID_GROUND;
                 kcoefficients_dump->time[0] = 0x00;
                 kcoefficients_dump->time[1] = 0x00;
                 kcoefficients_dump->time[2] = 0x00;
                 kcoefficients_dump->time[3] = 0x00;
                 kcoefficients_dump->time[4] = 0x00;
                 kcoefficients_dump->time[5] = 0x00;
                 kcoefficients_dump->sid = SID_K_DUMP;
                 kcoefficients_dump->pkt_cnt = 2;
                 kcoefficients_dump->pkt_nr = pkt_nr;
                 kcoefficients_dump->blk_nr = blk_nr;
                 //******************
                 // SOURCE DATA repeated N times with N in [0 .. PA_LFR_KCOEFF_BLK_NR]
                 // one blk is 2 + 4 * 32 = 130 bytes, 30 blks max in one packet (30 * 130 = 3900)
                 for (k=0; k<3900; k++)
                 {
                     kcoefficients_dump->kcoeff_blks[k] = 0x00;
                 }
             }
             void increment_seq_counter_destination_id_dump( unsigned char *packet_sequence_control, unsigned char destination_id )
             {
                 /** This function increment the packet sequence control parameter of a TC, depending on its destination ID.
                  *
                  * @param packet_sequence_control points to the packet sequence control which will be incremented
                  * @param destination_id is the destination ID of the TM, there is one counter by destination ID
                  *
                  * If the destination ID is not known, a dedicated counter is incremented.
                  *
                  */
                 unsigned short sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 unsigned char i;
                 switch (destination_id)
                 {
                 case SID_TC_GROUND:
                     i = GROUND;
                     break;
                 case SID_TC_MISSION_TIMELINE:
                     i = MISSION_TIMELINE;
                     break;
                 case SID_TC_TC_SEQUENCES:
                     i = TC_SEQUENCES;
                     break;
                 case SID_TC_RECOVERY_ACTION_CMD:
                     i = RECOVERY_ACTION_CMD;
                     break;
                 case SID_TC_BACKUP_MISSION_TIMELINE:
                     i = BACKUP_MISSION_TIMELINE;
                     break;
                 case SID_TC_DIRECT_CMD:
                     i = DIRECT_CMD;
                     break;
                 case SID_TC_SPARE_GRD_SRC1:
                     i = SPARE_GRD_SRC1;
                     break;
                 case SID_TC_SPARE_GRD_SRC2:
                     i = SPARE_GRD_SRC2;
                     break;
                 case SID_TC_OBCP:
                     i = OBCP;
                     break;
                 case SID_TC_SYSTEM_CONTROL:
                     i = SYSTEM_CONTROL;
                     break;
                 case SID_TC_AOCS:
                     i = AOCS;
                     break;
                 case SID_TC_RPW_INTERNAL:
                     i = RPW_INTERNAL;
                     break;
                 default:
                     i = GROUND;
                     break;
                 }
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                 sequence_cnt                = sequenceCounters_TM_DUMP[ i ] & 0x3fff;
                 new_packet_sequence_control = segmentation_grouping_flag | sequence_cnt ;
                 packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                 packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                 // increment the sequence counter
                 if ( sequenceCounters_TM_DUMP[ i ] < SEQ_CNT_MAX )
                 {
                     sequenceCounters_TM_DUMP[ i ] = sequenceCounters_TM_DUMP[ i ] + 1;
                 }
                 else
                 {
                     sequenceCounters_TM_DUMP[ i ] = 0;
                 }
             }

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