HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r242:feeb51833794

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r242:feeb51833794 R3

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src/fsw_globals.c +1 0

             /** 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 */
             int fdSPW = 0;
             int fdUART = 0;
             unsigned char lfrCurrentMode;
             unsigned char pa_bia_status_info;
             // 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
+            struct grgpio_regs_str          *grgpio_regs            = (struct grgpio_regs_str *)        REGS_ADDR_GRGPIO;
             time_management_regs_t          *time_management_regs   = (time_management_regs_t*)         REGS_ADDR_TIME_MANAGEMENT;
             gptimer_regs_t                  *gptimer_regs           = (gptimer_regs_t *)                REGS_ADDR_GPTIMER;
             waveform_picker_regs_0_1_18_t   *waveform_picker_regs   = (waveform_picker_regs_0_1_18_t*)  REGS_ADDR_WAVEFORM_PICKER;
             spectral_matrix_regs_t          *spectral_matrix_regs   = (spectral_matrix_regs_t*)         REGS_ADDR_SPECTRAL_MATRIX;
             // MODE PARAMETERS
             Packet_TM_LFR_PARAMETER_DUMP_t parameter_dump_packet;
             struct param_local_str param_local;
             // HK PACKETS
             Packet_TM_LFR_HK_t housekeeping_packet;
             // message queues occupancy
             unsigned char hk_lfr_q_sd_fifo_size_max;
             unsigned char hk_lfr_q_rv_fifo_size_max;
             unsigned char hk_lfr_q_p0_fifo_size_max;
             unsigned char hk_lfr_q_p1_fifo_size_max;
             unsigned char hk_lfr_q_p2_fifo_size_max;
             // sequence counters are incremented by APID (PID + CAT) and destination ID
             unsigned short sequenceCounters_SCIENCE_NORMAL_BURST;
             unsigned short sequenceCounters_SCIENCE_SBM1_SBM2;
             unsigned short sequenceCounters_TC_EXE[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounters_TM_DUMP[SEQ_CNT_NB_DEST_ID];
             unsigned short sequenceCounterHK;
             spw_stats spacewire_stats;
             spw_stats spacewire_stats_backup;

src/fsw_init.c +8 0

             /** This is the RTEMS initialization module.
              *
              * @file
              * @author P. LEROY
              *
              * This module contains two very different information:
              * - specific instructions to configure the compilation of the RTEMS executive
              * - functions related to the fligth softwre initialization, especially the INIT RTEMS task
              *
              */
             //*************************
             // GPL reminder to be added
             //*************************
             #include <rtems.h>
             /* configuration information */
             #define CONFIGURE_INIT
             #include <bsp.h> /* for device driver prototypes */
             /* configuration information */
             #define CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
             #define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
             #define CONFIGURE_MAXIMUM_TASKS 20
             #define CONFIGURE_RTEMS_INIT_TASKS_TABLE
             #define CONFIGURE_EXTRA_TASK_STACKS (3 * RTEMS_MINIMUM_STACK_SIZE)
             #define CONFIGURE_LIBIO_MAXIMUM_FILE_DESCRIPTORS 32
             #define CONFIGURE_INIT_TASK_PRIORITY 1 // instead of 100
             #define CONFIGURE_INIT_TASK_MODE (RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT)
             #define CONFIGURE_INIT_TASK_ATTRIBUTES (RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT)
             #define CONFIGURE_MAXIMUM_DRIVERS 16
             #define CONFIGURE_MAXIMUM_PERIODS 5
             #define CONFIGURE_MAXIMUM_TIMERS 5  // STAT (1s), send SWF (0.3s), send CWF3 (1s)
             #define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 5
             #ifdef PRINT_STACK_REPORT
                 #define CONFIGURE_STACK_CHECKER_ENABLED
             #endif
             #include <rtems/confdefs.h>
             /* If --drvmgr was enabled during the configuration of the RTEMS kernel */
             #ifdef RTEMS_DRVMGR_STARTUP
                 #ifdef LEON3
                 /* Add Timer and UART Driver */
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GPTIMER
                     #endif
                     #ifdef CONFIGURE_APPLICATION_NEEDS_CONSOLE_DRIVER
                         #define CONFIGURE_DRIVER_AMBAPP_GAISLER_APBUART
                     #endif
                 #endif
                 #define CONFIGURE_DRIVER_AMBAPP_GAISLER_GRSPW   /* GRSPW Driver */
                 #include <drvmgr/drvmgr_confdefs.h>
             #endif
             #include "fsw_init.h"
             #include "fsw_config.c"
             #include "GscMemoryLPP.hpp"
             void initCache()
             {
                 unsigned int cacheControlRegister;
                 cacheControlRegister = getCacheControlRegister();
                 PRINTF1("(0) cacheControlRegister = %x\n", cacheControlRegister)
                 resetCacheControlRegister();
                 enableInstructionCache();
                 enableDataCache();
                 enableInstructionBurstFetch();
                 cacheControlRegister = getCacheControlRegister();
                 PRINTF1("(1) cacheControlRegister = %x\n", cacheControlRegister)
             }
             rtems_task Init( rtems_task_argument ignored )
             {
                 /** This is the RTEMS INIT taks, it is the first task launched by the system.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The INIT task create and run all other RTEMS tasks.
                  *
                  */
                 //***********
                 // INIT CACHE
                 unsigned char *vhdlVersion;
                 reset_lfr();
                 reset_local_time();
                 rtems_cpu_usage_reset();
                 rtems_status_code status;
                 rtems_status_code status_spw;
                 rtems_isr_entry  old_isr_handler;
                 // UART settings
                 send_console_outputs_on_apbuart_port();
                 set_apbuart_scaler_reload_register(REGS_ADDR_APBUART, APBUART_SCALER_RELOAD_VALUE);
                 enable_apbuart_transmitter();
                 DEBUG_PRINTF("\n\n\n\n\nIn INIT *** Now the console is on port COM1\n")
                 PRINTF("\n\n\n\n\n")
                 initCache();
                 PRINTF("*************************\n")
                 PRINTF("** LFR Flight Software **\n")
                 PRINTF1("** %d.", SW_VERSION_N1)
                 PRINTF1("%d."   , SW_VERSION_N2)
                 PRINTF1("%d."   , SW_VERSION_N3)
                 PRINTF1("%d             **\n", SW_VERSION_N4)
                 vhdlVersion = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 PRINTF("** VHDL                **\n")
                 PRINTF1("** %d.", vhdlVersion[1])
                 PRINTF1("%d."   , vhdlVersion[2])
                 PRINTF1("%d              **\n", vhdlVersion[3])
                 PRINTF("*************************\n")
                 PRINTF("\n\n")
                 init_parameter_dump();
                 init_kcoefficients_dump();
                 init_local_mode_parameters();
                 init_housekeeping_parameters();
                 init_k_coefficients_prc0();
                 init_k_coefficients_prc1();
                 init_k_coefficients_prc2();
                 pa_bia_status_info = 0x00;
                 // waveform picker initialization
                 WFP_init_rings();      // initialize the waveform rings
                 WFP_reset_current_ring_nodes();
                 reset_waveform_picker_regs();
                 // spectral matrices initialization
                 SM_init_rings();            // initialize spectral matrices rings
                 SM_reset_current_ring_nodes();
                 reset_spectral_matrix_regs();
                 // configure calibration
                 configureCalibration( false );   // true means interleaved mode, false is for normal mode
                 updateLFRCurrentMode();
                 BOOT_PRINTF1("in INIT *** lfrCurrentMode is %d\n", lfrCurrentMode)
                 create_names();                             // create all names
                 status = create_message_queues();           // create message queues
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_message_queues, code %d", status)
                 }
                 status = create_all_tasks();                // create all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in create_all_tasks, code %d\n", status)
                 }
                 // **************************
                 // <SPACEWIRE INITIALIZATION>
                 grspw_timecode_callback = &timecode_irq_handler;
                 status_spw = spacewire_open_link();     // (1) open the link
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR spacewire_open_link code %d\n", status_spw )
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL )   // (2) configure the link
                 {
                     status_spw = spacewire_configure_link( fdSPW );
                     if ( status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_configure_link code %d\n", status_spw )
                     }
                 }
                 if ( status_spw == RTEMS_SUCCESSFUL)    // (3) start the link
                 {
                     status_spw = spacewire_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in INIT *** ERR spacewire_start_link code %d\n",  status_spw )
                     }
                 }
                 // </SPACEWIRE INITIALIZATION>
                 // ***************************
                 status = start_all_tasks();     // start all tasks
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** ERR in start_all_tasks, code %d", status)
                 }
                 // start RECV and SEND *AFTER* SpaceWire Initialization, due to the timeout of the start call during the initialization
                 status = start_recv_send_tasks();
                 if ( status != RTEMS_SUCCESSFUL )
                 {
                     PRINTF1("in INIT *** ERR start_recv_send_tasks code %d\n",  status )
                 }
                 // suspend science tasks, they will be restarted later depending on the mode
                 status = suspend_science_tasks();   // suspend science tasks (not done in stop_current_mode if current mode = STANDBY)
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in INIT *** in suspend_science_tasks *** ERR code: %d\n", status)
                 }
                 //******************************
                 // <SPECTRAL MATRICES SIMULATOR>
                 LEON_Mask_interrupt( IRQ_SM_SIMULATOR );
                 configure_timer((gptimer_regs_t*) REGS_ADDR_GPTIMER, TIMER_SM_SIMULATOR, CLKDIV_SM_SIMULATOR,
                                 IRQ_SPARC_SM_SIMULATOR, spectral_matrices_isr_simu );
                 // </SPECTRAL MATRICES SIMULATOR>
                 //*******************************
                 // configure IRQ handling for the waveform picker unit
                 status = rtems_interrupt_catch( waveforms_isr,
                                                IRQ_SPARC_WAVEFORM_PICKER,
                                                &old_isr_handler) ;
                 // configure IRQ handling for the spectral matrices unit
                 status = rtems_interrupt_catch( spectral_matrices_isr,
                                                IRQ_SPARC_SPECTRAL_MATRIX,
                                                &old_isr_handler) ;
                 // if the spacewire link is not up then send an event to the SPIQ task for link recovery
                 if ( status_spw != RTEMS_SUCCESSFUL )
                 {
                     status = rtems_event_send( Task_id[TASKID_SPIQ], SPW_LINKERR_EVENT );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1("in INIT *** ERR rtems_event_send to SPIQ code %d\n",  status )
                     }
                 }
                 BOOT_PRINTF("delete INIT\n")
                 set_hk_lfr_sc_potential_flag( true );
+                //*********************************
+                // init GPIO for trigger generation
+                struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
+                grgpio_regs->io_port_direction_register =
+                        grgpio_regs->io_port_direction_register | 0x08; // [0000 1000], 0 = output disabled, 1 = output enabled
+                grgpio_regs->io_port_direction_register =
+                        grgpio_regs->io_port_direction_register | 0x04; // [0000 0100], 0 = output disabled, 1 = output enabled
                 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_STAT] = rtems_build_name( 'S', 'T', 'A', 'T' );
                 Task_name[TASKID_AVF0] = rtems_build_name( 'A', 'V', 'F', '0' );
                 Task_name[TASKID_SWBD] = rtems_build_name( 'S', 'W', 'B', 'D' );
                 Task_name[TASKID_WFRM] = rtems_build_name( 'W', 'F', 'R', 'M' );
                 Task_name[TASKID_DUMB] = rtems_build_name( 'D', 'U', 'M', 'B' );
                 Task_name[TASKID_HOUS] = rtems_build_name( 'H', 'O', 'U', 'S' );
                 Task_name[TASKID_PRC0] = rtems_build_name( 'P', 'R', 'C', '0' );
                 Task_name[TASKID_CWF3] = rtems_build_name( 'C', 'W', 'F', '3' );
                 Task_name[TASKID_CWF2] = rtems_build_name( 'C', 'W', 'F', '2' );
                 Task_name[TASKID_CWF1] = rtems_build_name( 'C', 'W', 'F', '1' );
                 Task_name[TASKID_SEND] = rtems_build_name( 'S', 'E', 'N', 'D' );
                 Task_name[TASKID_WTDG] = rtems_build_name( 'W', 'T', 'D', 'G' );
                 Task_name[TASKID_AVF1] = rtems_build_name( 'A', 'V', 'F', '1' );
                 Task_name[TASKID_PRC1] = rtems_build_name( 'P', 'R', 'C', '1' );
                 Task_name[TASKID_AVF2] = rtems_build_name( 'A', 'V', 'F', '2' );
                 Task_name[TASKID_PRC2] = rtems_build_name( 'P', 'R', 'C', '2' );
                 // rate monotonic period names
                 name_hk_rate_monotonic = rtems_build_name( 'H', 'O', 'U', 'S' );
                 misc_name[QUEUE_RECV] = rtems_build_name( 'Q', '_', 'R', 'V' );
                 misc_name[QUEUE_SEND] = rtems_build_name( 'Q', '_', 'S', 'D' );
                 misc_name[QUEUE_PRC0] = rtems_build_name( 'Q', '_', 'P', '0' );
                 misc_name[QUEUE_PRC1] = rtems_build_name( 'Q', '_', 'P', '1' );
                 misc_name[QUEUE_PRC2] = rtems_build_name( 'Q', '_', 'P', '2' );
             }
             int create_all_tasks( void ) // create all tasks which run in the software
             {
                 /** This function creates all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - task created successfully
                  * - RTEMS_INVALID_ADDRESS - id is NULL
                  * - RTEMS_INVALID_NAME - invalid task name
                  * - RTEMS_INVALID_PRIORITY - invalid task priority
                  * - RTEMS_MP_NOT_CONFIGURED - multiprocessing not configured
                  * - RTEMS_TOO_MANY - too many tasks created
                  * - RTEMS_UNSATISFIED - not enough memory for stack/FP context
                  * - RTEMS_TOO_MANY - too many global objects
                  *
                  */
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 // RECV
                 status = rtems_task_create(
                     Task_name[TASKID_RECV], TASK_PRIORITY_RECV, RTEMS_MINIMUM_STACK_SIZE,
                     RTEMS_DEFAULT_MODES,
                     RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_RECV]
                 );
                 if (status == RTEMS_SUCCESSFUL) // SEND
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SEND], TASK_PRIORITY_SEND, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SEND]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // WTDG
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WTDG], TASK_PRIORITY_WTDG, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_WTDG]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // ACTN
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_ACTN], TASK_PRIORITY_ACTN, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_ACTN]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SPIQ
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SPIQ], TASK_PRIORITY_SPIQ, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_SPIQ]
                     );
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL) // AVF0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF0], TASK_PRIORITY_AVF0, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC0
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC0], TASK_PRIORITY_PRC0, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC0]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF1], TASK_PRIORITY_AVF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC1], TASK_PRIORITY_PRC1, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // AVF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_AVF2], TASK_PRIORITY_AVF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_AVF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // PRC2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_PRC2], TASK_PRIORITY_PRC2, RTEMS_MINIMUM_STACK_SIZE * 2,
                         RTEMS_DEFAULT_MODES | RTEMS_NO_PREEMPT,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_PRC2]
                     );
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL) // WFRM
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_WFRM], TASK_PRIORITY_WFRM, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_WFRM]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF3
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF3], TASK_PRIORITY_CWF3, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF3]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF2
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF2], TASK_PRIORITY_CWF2, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF2]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // CWF1
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_CWF1], TASK_PRIORITY_CWF1, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_CWF1]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // SWBD
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_SWBD], TASK_PRIORITY_SWBD, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_SWBD]
                     );
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL) // STAT
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_STAT], TASK_PRIORITY_STAT, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_STAT]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // DUMB
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_DUMB], TASK_PRIORITY_DUMB, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES, &Task_id[TASKID_DUMB]
                     );
                 }
                 if (status == RTEMS_SUCCESSFUL) // HOUS
                 {
                     status = rtems_task_create(
                         Task_name[TASKID_HOUS], TASK_PRIORITY_HOUS, RTEMS_MINIMUM_STACK_SIZE,
                         RTEMS_DEFAULT_MODES,
                         RTEMS_DEFAULT_ATTRIBUTES | RTEMS_FLOATING_POINT, &Task_id[TASKID_HOUS]
                     );
                 }
                 return status;
             }
             int start_recv_send_tasks( void )
             {
                 rtems_status_code status;
                 status = rtems_task_start( Task_id[TASKID_RECV], recv_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_RECV\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SEND
                 {
                     status = rtems_task_start( Task_id[TASKID_SEND], send_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SEND\n")
                     }
                 }
                 return status;
             }
             int start_all_tasks( void ) // start all tasks except SEND RECV and HOUS
             {
                 /** This function starts all RTEMS tasks used in the software.
                  *
                  * @return RTEMS directive status codes:
                  * - RTEMS_SUCCESSFUL - ask started successfully
                  * - RTEMS_INVALID_ADDRESS - invalid task entry point
                  * - RTEMS_INVALID_ID - invalid task id
                  * - RTEMS_INCORRECT_STATE - task not in the dormant state
                  * - RTEMS_ILLEGAL_ON_REMOTE_OBJECT - cannot start remote task
                  *
                  */
                 // starts all the tasks fot eh flight software
                 rtems_status_code status;
                 //**********
                 // SPACEWIRE
                 status = rtems_task_start( Task_id[TASKID_SPIQ], spiq_task, 1 );
                 if (status!=RTEMS_SUCCESSFUL) {
                     BOOT_PRINTF("in INIT *** Error starting TASK_SPIQ\n")
                 }
                 if (status == RTEMS_SUCCESSFUL)     // WTDG
                 {
                     status = rtems_task_start( Task_id[TASKID_WTDG], wtdg_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WTDG\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // ACTN
                 {
                     status = rtems_task_start( Task_id[TASKID_ACTN], actn_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_ACTN\n")
                     }
                 }
                 //******************
                 // SPECTRAL MATRICES
                 if (status == RTEMS_SUCCESSFUL)     // AVF0
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF0], avf0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC0
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC0], prc0_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC0\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF1
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF1], avf1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC1
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC1], prc1_task, LFR_MODE_STANDBY );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // AVF2
                 {
                     status = rtems_task_start( Task_id[TASKID_AVF2], avf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_AVF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // PRC2
                 {
                     status = rtems_task_start( Task_id[TASKID_PRC2], prc2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_PRC2\n")
                     }
                 }
                 //****************
                 // WAVEFORM PICKER
                 if (status == RTEMS_SUCCESSFUL)     // WFRM
                 {
                     status = rtems_task_start( Task_id[TASKID_WFRM], wfrm_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_WFRM\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF3
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF3], cwf3_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF3\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF2
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF2], cwf2_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF2\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // CWF1
                 {
                     status = rtems_task_start( Task_id[TASKID_CWF1], cwf1_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_CWF1\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // SWBD
                 {
                     status = rtems_task_start( Task_id[TASKID_SWBD], swbd_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_SWBD\n")
                     }
                 }
                 //*****
                 // MISC
                 if (status == RTEMS_SUCCESSFUL)     // HOUS
                 {
                     status = rtems_task_start( Task_id[TASKID_HOUS], hous_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_HOUS\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // DUMB
                 {
                     status = rtems_task_start( Task_id[TASKID_DUMB], dumb_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_DUMB\n")
                     }
                 }
                 if (status == RTEMS_SUCCESSFUL)     // STAT
                 {
                     status = rtems_task_start( Task_id[TASKID_STAT], stat_task, 1 );
                     if (status!=RTEMS_SUCCESSFUL) {
                         BOOT_PRINTF("in INIT *** Error starting TASK_STAT\n")
                     }
                 }
                 return status;
             }
             rtems_status_code create_message_queues( void ) // create the two message queues used in the software
             {
                 rtems_status_code status_recv;
                 rtems_status_code status_send;
                 rtems_status_code status_q_p0;
                 rtems_status_code status_q_p1;
                 rtems_status_code status_q_p2;
                 rtems_status_code ret;
                 rtems_id queue_id;
                 //****************************************
                 // create the queue for handling valid TCs
                 status_recv = rtems_message_queue_create( misc_name[QUEUE_RECV],
                                                           MSG_QUEUE_COUNT_RECV, CCSDS_TC_PKT_MAX_SIZE,
                                                      RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_recv != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating QUEU queue, %d\n", status_recv)
                 }
                 //************************************************
                 // create the queue for handling TM packet sending
                 status_send = rtems_message_queue_create( misc_name[QUEUE_SEND],
                                                           MSG_QUEUE_COUNT_SEND, MSG_QUEUE_SIZE_SEND,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_send != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating PKTS queue, %d\n", status_send)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f0
                 status_q_p0 = rtems_message_queue_create( misc_name[QUEUE_PRC0],
                                                           MSG_QUEUE_COUNT_PRC0, MSG_QUEUE_SIZE_PRC0,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p0 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P0 queue, %d\n", status_q_p0)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f1
                 status_q_p1 = rtems_message_queue_create( misc_name[QUEUE_PRC1],
                                                           MSG_QUEUE_COUNT_PRC1, MSG_QUEUE_SIZE_PRC1,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p1 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P1 queue, %d\n", status_q_p1)
                 }
                 //*****************************************************************************
                 // create the queue for handling averaged spectral matrices for processing @ f2
                 status_q_p2 = rtems_message_queue_create( misc_name[QUEUE_PRC2],
                                                           MSG_QUEUE_COUNT_PRC2, MSG_QUEUE_SIZE_PRC2,
                                                   RTEMS_FIFO | RTEMS_LOCAL, &queue_id );
                 if ( status_q_p2 != RTEMS_SUCCESSFUL ) {
                     PRINTF1("in create_message_queues *** ERR creating Q_P2 queue, %d\n", status_q_p2)
                 }
                 if ( status_recv != RTEMS_SUCCESSFUL )
                 {
                     ret = status_recv;
                 }
                 else if( status_send != RTEMS_SUCCESSFUL )
                 {
                     ret = status_send;
                 }
                 else if( status_q_p0 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p0;
                 }
                 else if( status_q_p1 != RTEMS_SUCCESSFUL )
                 {
                     ret = status_q_p1;
                 }
                 else
                 {
                     ret = status_q_p2;
                 }
                 return ret;
             }
             rtems_status_code get_message_queue_id_send( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'S', 'D' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_recv( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'R', 'V' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc0( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '0' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc1( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '1' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             rtems_status_code get_message_queue_id_prc2( rtems_id *queue_id )
             {
                 rtems_status_code status;
                 rtems_name queue_name;
                 queue_name = rtems_build_name( 'Q', '_', 'P', '2' );
                 status =  rtems_message_queue_ident( queue_name, 0, queue_id );
                 return status;
             }
             void update_queue_max_count( rtems_id queue_id, unsigned char*fifo_size_max )
             {
                 u_int32_t count;
                 rtems_status_code status;
                 status = rtems_message_queue_get_number_pending( queue_id, &count );
                 count = count + 1;
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in update_queue_max_count *** ERR = %d\n", status)
                 }
                 else
                 {
                     if (count > *fifo_size_max)
                     {
                         *fifo_size_max = count;
                     }
                 }
             }
             void init_ring(ring_node ring[], unsigned char nbNodes, volatile int buffer[], unsigned int bufferSize )
             {
                 unsigned char i;
                 //***************
                 // BUFFER ADDRESS
                 for(i=0; i<nbNodes; i++)
                 {
                     ring[i].coarseTime = 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/fsw_misc.c +14 0

             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             void configure_timer(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider,
                                 unsigned char interrupt_level, rtems_isr (*timer_isr)() )
             {
                 /** This function configures a GPTIMER timer instantiated in the VHDL design.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  * @param interrupt_level is the interrupt level that the timer drives.
                  * @param timer_isr is the interrupt subroutine that will be attached to the IRQ driven by the timer.
                  *
                  * Interrupt levels are described in the SPARC documentation sparcv8.pdf p.76
                  *
                  */
                 rtems_status_code status;
                 rtems_isr_entry old_isr_handler;
                 gptimer_regs->timer[timer].ctrl = 0x00;  // reset the control register
                 status = rtems_interrupt_catch( timer_isr, interrupt_level, &old_isr_handler) ; // see sparcv8.pdf p.76 for interrupt levels
                 if (status!=RTEMS_SUCCESSFUL)
                 {
                     PRINTF("in configure_timer *** ERR rtems_interrupt_catch\n")
                 }
                 timer_set_clock_divider( gptimer_regs, timer, clock_divider);
             }
             void timer_start(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 /** This function starts a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000004;  // LD load value from the reload register
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000001;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000002;  // RS restart
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000008;  // IE interrupt enable
             }
             void timer_stop(gptimer_regs_t *gptimer_regs, unsigned char timer)
             {
                 /** This function stops a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  *
                  */
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xfffffffe;  // EN enable the timer
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & 0xffffffef;  // IE interrupt enable
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | 0x00000010;  // clear pending IRQ if any
             }
             void timer_set_clock_divider(gptimer_regs_t *gptimer_regs, unsigned char timer, unsigned int clock_divider)
             {
                 /** This function sets the clock divider of a GPTIMER timer.
                  *
                  * @param gptimer_regs points to the APB registers of the GPTIMER IP core.
                  * @param timer is the number of the timer in the IP core (several timers can be instantiated).
                  * @param clock_divider is the divider of the 1 MHz clock that will be configured.
                  *
                  */
                 gptimer_regs->timer[timer].reload = clock_divider; // base clock frequency is 1 MHz
             }
             int send_console_outputs_on_apbuart_port( void ) // Send the console outputs on the apbuart port
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             int enable_apbuart_transmitter( void )  // set the bit 1, TE Transmitter Enable to 1 in the APBUART control register
             {
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) REGS_ADDR_APBUART;
                 apbuart_regs->ctrl = apbuart_regs->ctrl | APBUART_CTRL_REG_MASK_TE;
                 return 0;
             }
             void set_apbuart_scaler_reload_register(unsigned int regs, unsigned int value)
             {
                 /** This function sets the scaler reload register of the apbuart module
                  *
                  * @param regs is the address of the apbuart registers in memory
                  * @param value is the value that will be stored in the scaler register
                  *
                  * The value shall be set by the software to get data on the serial interface.
                  *
                  */
                 struct apbuart_regs_str *apbuart_regs = (struct apbuart_regs_str *) regs;
                 apbuart_regs->scaler = value;
                 BOOT_PRINTF1("OK  *** apbuart port scaler reload register set to 0x%x\n", value)
             }
             //************
             // RTEMS TASKS
             rtems_task stat_task(rtems_task_argument argument)
             {
                 int i;
                 int j;
                 i = 0;
                 j = 0;
                 BOOT_PRINTF("in STAT *** \n")
                 while(1){
                     rtems_task_wake_after(1000);
                     PRINTF1("%d\n", j)
                     if (i == CPU_USAGE_REPORT_PERIOD) {
             //            #ifdef PRINT_TASK_STATISTICS
             //            rtems_cpu_usage_report();
             //            rtems_cpu_usage_reset();
             //            #endif
                         i = 0;
                     }
                     else i++;
                     j++;
                 }
             }
             rtems_task hous_task(rtems_task_argument argument)
             {
                 rtems_status_code status;
                 rtems_status_code spare_status;
                 rtems_id queue_id;
                 rtems_rate_monotonic_period_status period_status;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in HOUS ***\n")
                 if (rtems_rate_monotonic_ident( name_hk_rate_monotonic, &HK_id) != RTEMS_SUCCESSFUL) {
                     status = rtems_rate_monotonic_create( name_hk_rate_monotonic, &HK_id );
                     if( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "rtems_rate_monotonic_create failed with status of %d\n", status )
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "ERR *** in HOUS *** rtems_rate_monotonic_cancel(HK_id) ***code: %d\n", status )
                 }
                 else {
                     DEBUG_PRINTF("OK  *** in HOUS *** rtems_rate_monotonic_cancel(HK_id)\n")
                 }
                 // startup phase
                 status = rtems_rate_monotonic_period( HK_id, SY_LFR_TIME_SYN_TIMEOUT_in_ticks );
                 status = rtems_rate_monotonic_get_status( HK_id, &period_status );
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 while(period_status.state != RATE_MONOTONIC_EXPIRED )   // after SY_LFR_TIME_SYN_TIMEOUT ms, starts HK anyway
                 {
                     if ((time_management_regs->coarse_time & 0x80000000) == 0x00000000) // check time synchronization
                     {
                         break;  // break if LFR is synchronized
                     }
                     else
                     {
                         status = rtems_rate_monotonic_get_status( HK_id, &period_status );
             //            sched_yield();
                         status = rtems_task_wake_after( 10 );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 100 ms = 10 * 10 ms
                     }
                 }
                 status = rtems_rate_monotonic_cancel(HK_id);
                 DEBUG_PRINTF1("startup HK, HK_id status = %d\n", period_status.state)
                 set_hk_lfr_reset_cause( POWER_ON );
                 while(1){ // launch the rate monotonic task
+            //        //*******
+            //        // GPIO 3
+            //        struct grgpio_regs_str *grgpio_regs = (struct grgpio_regs_str *) REGS_ADDR_GRGPIO;
+            //        if ( (grgpio_regs->io_port_output_register & 0x07) == 0x02 )    // [010]
+            //        {
+            //            grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf8; // [1111 1000]
+            //        }
+            //        else
+            //        {
+            //            grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x02; // [0000 0010]
+            //        }
+                    //
+                    //*******
                     status = rtems_rate_monotonic_period( HK_id, HK_PERIOD );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF1( "in HOUS *** ERR period: %d\n", status);
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_6 );
                     }
                     else {
                         housekeeping_packet.packetSequenceControl[0] = (unsigned char) (sequenceCounterHK >> 8);
                         housekeeping_packet.packetSequenceControl[1] = (unsigned char) (sequenceCounterHK     );
                         increment_seq_counter( &sequenceCounterHK );
                         housekeeping_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                         housekeeping_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                         housekeeping_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                         housekeeping_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                         housekeeping_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                         housekeeping_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                         spacewire_update_statistics();
                         housekeeping_packet.hk_lfr_q_sd_fifo_size_max = hk_lfr_q_sd_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_rv_fifo_size_max = hk_lfr_q_rv_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p0_fifo_size_max = hk_lfr_q_p0_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p1_fifo_size_max = hk_lfr_q_p1_fifo_size_max;
                         housekeeping_packet.hk_lfr_q_p2_fifo_size_max = hk_lfr_q_p2_fifo_size_max;
                         housekeeping_packet.sy_lfr_common_parameters_spare  = parameter_dump_packet.sy_lfr_common_parameters_spare;
                         housekeeping_packet.sy_lfr_common_parameters        = parameter_dump_packet.sy_lfr_common_parameters;
                         get_temperatures( housekeeping_packet.hk_lfr_temp_scm );
                         get_v_e1_e2_f3(   housekeeping_packet.hk_lfr_sc_v_f3  );
                         get_cpu_load( (unsigned char *) &housekeeping_packet.hk_lfr_cpu_load );
                         // SEND PACKET
                         status =  rtems_message_queue_send( queue_id, &housekeeping_packet,
                                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
                         if (status != RTEMS_SUCCESSFUL) {
                             PRINTF1("in HOUS *** ERR send: %d\n", status)
                         }
                     }
                 }
                 PRINTF("in HOUS *** deleting task\n")
                 status = rtems_task_delete( RTEMS_SELF ); // should not return
                 return;
             }
             rtems_task dumb_task( rtems_task_argument unused )
             {
                 /** This RTEMS taks is used to print messages without affecting the general behaviour of the software.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The DUMB taks waits for RTEMS events and print messages depending on the incoming events.
                  *
                  */
                 unsigned int i;
                 unsigned int intEventOut;
                 unsigned int coarse_time = 0;
                 unsigned int fine_time = 0;
                 rtems_event_set event_out;
                 char *DumbMessages[12] = {"in DUMB *** default",                                            // RTEMS_EVENT_0
                                     "in DUMB *** timecode_irq_handler",                                     // RTEMS_EVENT_1
                                     "in DUMB *** f3 buffer changed",                                        // RTEMS_EVENT_2
                                     "in DUMB *** in SMIQ *** Error sending event to AVF0",                  // RTEMS_EVENT_3
                                     "in DUMB *** spectral_matrices_isr *** Error sending event to SMIQ",    // RTEMS_EVENT_4
                                     "in DUMB *** waveforms_simulator_isr",                                  // RTEMS_EVENT_5
                                     "VHDL SM *** two buffers f0 ready",                                     // RTEMS_EVENT_6
                                     "ready for dump",                                                       // RTEMS_EVENT_7
                                     "VHDL ERR *** spectral matrix",                                         // RTEMS_EVENT_8
                                     "tick",                                                                 // RTEMS_EVENT_9
                                     "VHDL ERR *** waveform picker",                                         // RTEMS_EVENT_10
                                     "VHDL ERR *** unexpected ready matrix values"                           // RTEMS_EVENT_11
                 };
                 BOOT_PRINTF("in DUMB *** \n")
                 while(1){
                     rtems_event_receive(RTEMS_EVENT_0 | RTEMS_EVENT_1 | RTEMS_EVENT_2 | RTEMS_EVENT_3
                                         | RTEMS_EVENT_4 | RTEMS_EVENT_5 | RTEMS_EVENT_6 | RTEMS_EVENT_7
                                         | RTEMS_EVENT_8 | RTEMS_EVENT_9,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out); // wait for an RTEMS_EVENT
                     intEventOut =  (unsigned int) event_out;
                     for ( i=0; i<32; i++)
                     {
                         if ( ((intEventOut >> i) & 0x0001) != 0)
                         {
                             coarse_time = time_management_regs->coarse_time;
                             fine_time = time_management_regs->fine_time;
                             if (i==8)
                             {
                             }
                             if (i==10)
                             {
                             }
                         }
                     }
                 }
             }
             //*****************************
             // init housekeeping parameters
             void init_housekeeping_parameters( void )
             {
                 /** This function initialize the housekeeping_packet global variable with default values.
                  *
                  */
                 unsigned int i = 0;
                 unsigned char *parameters;
                 unsigned char sizeOfHK;
                 sizeOfHK = sizeof( Packet_TM_LFR_HK_t );
                 parameters = (unsigned char*) &housekeeping_packet;
                 for(i = 0; i< sizeOfHK; i++)
                 {
                     parameters[i] = 0x00;
                 }
                 housekeeping_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 housekeeping_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 housekeeping_packet.reserved = DEFAULT_RESERVED;
                 housekeeping_packet.userApplication = CCSDS_USER_APP;
                 housekeeping_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
                 housekeeping_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 housekeeping_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 housekeeping_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 housekeeping_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 housekeeping_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 housekeeping_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 housekeeping_packet.serviceType = TM_TYPE_HK;
                 housekeeping_packet.serviceSubType = TM_SUBTYPE_HK;
                 housekeeping_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 housekeeping_packet.sid = SID_HK;
                 // init status word
                 housekeeping_packet.lfr_status_word[0] = DEFAULT_STATUS_WORD_BYTE0;
                 housekeeping_packet.lfr_status_word[1] = DEFAULT_STATUS_WORD_BYTE1;
                 // init software version
                 housekeeping_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 housekeeping_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 housekeeping_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 housekeeping_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_VHDL_VERSION);
                 housekeeping_packet.lfr_fpga_version[0] = parameters[1]; // n1
                 housekeeping_packet.lfr_fpga_version[1] = parameters[2]; // n2
                 housekeeping_packet.lfr_fpga_version[2] = parameters[3]; // n3
                 housekeeping_packet.hk_lfr_q_sd_fifo_size = MSG_QUEUE_COUNT_SEND;
                 housekeeping_packet.hk_lfr_q_rv_fifo_size = MSG_QUEUE_COUNT_RECV;
                 housekeeping_packet.hk_lfr_q_p0_fifo_size = MSG_QUEUE_COUNT_PRC0;
                 housekeeping_packet.hk_lfr_q_p1_fifo_size = MSG_QUEUE_COUNT_PRC1;
                 housekeeping_packet.hk_lfr_q_p2_fifo_size = MSG_QUEUE_COUNT_PRC2;
             }
             void increment_seq_counter( unsigned short *packetSequenceControl )
             {
                 /** This function increment the sequence counter passes in argument.
                  *
                  * The increment does not affect the grouping flag. In case of an overflow, the counter is reset to 0.
                  *
                  */
                 unsigned short segmentation_grouping_flag;
                 unsigned short sequence_cnt;
                 segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;   // keep bits 7 downto 6
                 sequence_cnt                = (*packetSequenceControl) & 0x3fff;    // [0011 1111 1111 1111]
                 if ( sequence_cnt < SEQ_CNT_MAX)
                 {
                     sequence_cnt = sequence_cnt + 1;
                 }
                 else
                 {
                     sequence_cnt = 0;
                 }
                 *packetSequenceControl = segmentation_grouping_flag | sequence_cnt ;
             }
             void getTime( unsigned char *time)
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 time[3] = (unsigned char) (time_management_regs->coarse_time);
                 time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 time[5] = (unsigned char) (time_management_regs->fine_time);
             }
             unsigned long long int getTimeAsUnsignedLongLongInt( )
             {
                 /** This function write the current local time in the time buffer passed in argument.
                  *
                  */
                 unsigned long long int time;
                 time = ( (unsigned long long int) (time_management_regs->coarse_time & 0x7fffffff) << 16 )
                         + time_management_regs->fine_time;
                 return time;
             }
             void send_dumb_hk( void )
             {
                 Packet_TM_LFR_HK_t dummy_hk_packet;
                 unsigned char *parameters;
                 unsigned int i;
                 rtems_id queue_id;
                 dummy_hk_packet.targetLogicalAddress = CCSDS_DESTINATION_ID;
                 dummy_hk_packet.protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 dummy_hk_packet.reserved = DEFAULT_RESERVED;
                 dummy_hk_packet.userApplication = CCSDS_USER_APP;
                 dummy_hk_packet.packetID[0] = (unsigned char) (APID_TM_HK >> 8);
                 dummy_hk_packet.packetID[1] = (unsigned char) (APID_TM_HK);
                 dummy_hk_packet.packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 dummy_hk_packet.packetSequenceControl[1] = TM_PACKET_SEQ_CNT_DEFAULT;
                 dummy_hk_packet.packetLength[0] = (unsigned char) (PACKET_LENGTH_HK >> 8);
                 dummy_hk_packet.packetLength[1] = (unsigned char) (PACKET_LENGTH_HK     );
                 dummy_hk_packet.spare1_pusVersion_spare2 = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 dummy_hk_packet.serviceType = TM_TYPE_HK;
                 dummy_hk_packet.serviceSubType = TM_SUBTYPE_HK;
                 dummy_hk_packet.destinationID = TM_DESTINATION_ID_GROUND;
                 dummy_hk_packet.time[0] = (unsigned char) (time_management_regs->coarse_time>>24);
                 dummy_hk_packet.time[1] = (unsigned char) (time_management_regs->coarse_time>>16);
                 dummy_hk_packet.time[2] = (unsigned char) (time_management_regs->coarse_time>>8);
                 dummy_hk_packet.time[3] = (unsigned char) (time_management_regs->coarse_time);
                 dummy_hk_packet.time[4] = (unsigned char) (time_management_regs->fine_time>>8);
                 dummy_hk_packet.time[5] = (unsigned char) (time_management_regs->fine_time);
                 dummy_hk_packet.sid = SID_HK;
                 // init status word
                 dummy_hk_packet.lfr_status_word[0] = 0xff;
                 dummy_hk_packet.lfr_status_word[1] = 0xff;
                 // init software version
                 dummy_hk_packet.lfr_sw_version[0] = SW_VERSION_N1;
                 dummy_hk_packet.lfr_sw_version[1] = SW_VERSION_N2;
                 dummy_hk_packet.lfr_sw_version[2] = SW_VERSION_N3;
                 dummy_hk_packet.lfr_sw_version[3] = SW_VERSION_N4;
                 // init fpga version
                 parameters = (unsigned char *) (REGS_ADDR_WAVEFORM_PICKER + 0xb0);
                 dummy_hk_packet.lfr_fpga_version[0] = parameters[1]; // n1
                 dummy_hk_packet.lfr_fpga_version[1] = parameters[2]; // n2
                 dummy_hk_packet.lfr_fpga_version[2] = parameters[3]; // n3
                 parameters = (unsigned char *) &dummy_hk_packet.hk_lfr_cpu_load;
                 for (i=0; i<100; i++)
                 {
                     parameters[i] = 0xff;
                 }
                 get_message_queue_id_send( &queue_id );
                 rtems_message_queue_send( queue_id, &dummy_hk_packet,
                                             PACKET_LENGTH_HK + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES);
             }
             void get_temperatures( unsigned char *temperatures )
             {
                 unsigned char* temp_scm_ptr;
                 unsigned char* temp_pcb_ptr;
                 unsigned char* temp_fpga_ptr;
                 // SEL1 SEL0
                 // 0    0       => PCB
                 // 0    1       => FPGA
                 // 1    0       => SCM
                 temp_scm_ptr  = (unsigned char *) &time_management_regs->temp_scm;
                 temp_pcb_ptr =  (unsigned char *) &time_management_regs->temp_pcb;
                 temp_fpga_ptr = (unsigned char *) &time_management_regs->temp_fpga;
                 temperatures[0] = temp_scm_ptr[2];
                 temperatures[1] = temp_scm_ptr[3];
                 temperatures[2] = temp_pcb_ptr[2];
                 temperatures[3] = temp_pcb_ptr[3];
                 temperatures[4] = temp_fpga_ptr[2];
                 temperatures[5] = temp_fpga_ptr[3];
             }
             void get_v_e1_e2_f3( unsigned char *spacecraft_potential )
             {
                 unsigned char* v_ptr;
                 unsigned char* e1_ptr;
                 unsigned char* e2_ptr;
                 v_ptr  = (unsigned char *) &waveform_picker_regs->v;
                 e1_ptr = (unsigned char *) &waveform_picker_regs->e1;
                 e2_ptr = (unsigned char *) &waveform_picker_regs->e2;
                 spacecraft_potential[0] = v_ptr[2];
                 spacecraft_potential[1] = v_ptr[3];
                 spacecraft_potential[2] = e1_ptr[2];
                 spacecraft_potential[3] = e1_ptr[3];
                 spacecraft_potential[4] = e2_ptr[2];
                 spacecraft_potential[5] = e2_ptr[3];
             }
             void get_cpu_load( unsigned char *resource_statistics )
             {
                 unsigned char cpu_load;
                 cpu_load = lfr_rtems_cpu_usage_report();
                 // HK_LFR_CPU_LOAD
                 resource_statistics[0] = cpu_load;
                 // HK_LFR_CPU_LOAD_MAX
                 if (cpu_load > resource_statistics[1])
                 {
                      resource_statistics[1] = cpu_load;
                 }
                 // CPU_LOAD_AVE
                 resource_statistics[2] = 0;
             #ifndef PRINT_TASK_STATISTICS
                     rtems_cpu_usage_reset();
             #endif
             }
             void set_hk_lfr_sc_potential_flag( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x40;   // [0100 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xbf;   // [1011 1111]
                 }
             }
             void set_hk_lfr_mag_fields_flag( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x20;   // [0010 0000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xd7;   // [1101 1111]
                 }
             }
             void set_hk_lfr_calib_enable( bool state )
             {
                 if (state == true)
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] | 0x08;   // [0000 1000]
                 }
                 else
                 {
                     housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1] & 0xf7;   // [1111 0111]
                 }
             }
             void set_hk_lfr_reset_cause( enum lfr_reset_cause_t lfr_reset_cause )
             {
                 housekeeping_packet.lfr_status_word[1] = housekeeping_packet.lfr_status_word[1]
                         | (lfr_reset_cause & 0x07 );   // [0000 0111]
             }

src/fsw_spacewire.c +8 0

             /** Functions related to the SpaceWire interface.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle SpaceWire transmissions:
              * - configuration of the SpaceWire link
              * - SpaceWire related interruption requests processing
              * - transmission of TeleMetry packets by a dedicated RTEMS task
              * - reception of TeleCommands by a dedicated RTEMS task
              *
              */
             #include "fsw_spacewire.h"
             rtems_name semq_name;
             rtems_id semq_id;
             //*****************
             // waveform headers
             Header_TM_LFR_SCIENCE_CWF_t headerCWF;
             Header_TM_LFR_SCIENCE_SWF_t headerSWF;
             Header_TM_LFR_SCIENCE_ASM_t headerASM;
+            extern struct grgpio_regs_str *grgpio_regs;
+            #define OUTPUT_1 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf8;
+            #define OUTPUT_0 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x02;
             //***********
             // RTEMS TASK
             rtems_task spiq_task(rtems_task_argument unused)
             {
                 /** This RTEMS task is awaken by an rtems_event sent by the interruption subroutine of the SpaceWire driver.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in SPIQ *** \n")
                 while(true){
                     rtems_event_receive(SPW_LINKERR_EVENT, RTEMS_WAIT, RTEMS_NO_TIMEOUT, &event_out); // wait for an SPW_LINKERR_EVENT
                     PRINTF("in SPIQ *** got SPW_LINKERR_EVENT\n")
                     // [0] SUSPEND RECV AND SEND TASKS
                     status = rtems_task_suspend( Task_id[ TASKID_RECV ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending RECV Task\n")
                     }
                     status = rtems_task_suspend( Task_id[ TASKID_SEND ] );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR suspending SEND Task\n")
                     }
                     // [1] CHECK THE LINK
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status (1)
                     if ( linkStatus != 5) {
                         PRINTF1("in SPIQ *** linkStatus %d, wait...\n", linkStatus)
                         status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     }
                     // [2] RECHECK THE LINK AFTER SY_LFR_DPU_CONNECT_TIMEOUT
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);    // get the link status (2)
                     if ( linkStatus != 5 )  // [2.a] not in run state, reset the link
                     {
                         spacewire_compute_stats_offsets();
                         status = spacewire_reset_link( );
                     }
                     else                    // [2.b] in run state, start the link
                     {
                         status = spacewire_stop_and_start_link( fdSPW ); // start the link
                         if ( status != RTEMS_SUCCESSFUL)
                         {
                             PRINTF1("in SPIQ *** ERR spacewire_stop_and_start_link %d\n", status)
                         }
                     }
                     // [3] COMPLETE RECOVERY ACTION AFTER SY_LFR_DPU_CONNECT_ATTEMPTS
                     if ( status == RTEMS_SUCCESSFUL )   // [3.a] the link is in run state and has been started successfully
                     {
                         status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming SEND Task\n")
                         }
                         status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF("in SPIQ *** ERR resuming RECV Task\n")
                         }
                     }
                     else                                // [3.b] the link is not in run state, go in STANDBY mode
                     {
                         status = enter_mode( LFR_MODE_STANDBY, 0 );
                         if ( status != RTEMS_SUCCESSFUL ) {
                             PRINTF1("in SPIQ *** ERR enter_standby_mode *** code %d\n", status)
                         }
                         // wake the WTDG task up to wait for the link recovery
                         status =  rtems_event_send ( Task_id[TASKID_WTDG], RTEMS_EVENT_0 );
                         status = rtems_task_suspend( RTEMS_SELF );
                     }
                 }
             }
             rtems_task recv_task( rtems_task_argument unused )
             {
                 /** This RTEMS task is dedicated to the reception of incoming TeleCommands.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The RECV task blocks on a call to the read system call, waiting for incoming SpaceWire data. When unblocked:
                  * 1. It reads the incoming data.
                  * 2. Launches the acceptance procedure.
                  * 3. If the Telecommand is valid, sends it to a dedicated RTEMS message queue.
                  *
                  */
                 int len;
                 ccsdsTelecommandPacket_t currentTC;
                 unsigned char computed_CRC[ 2 ];
                 unsigned char currentTC_LEN_RCV[ 2 ];
                 unsigned char destinationID;
                 unsigned int estimatedPacketLength;
                 unsigned int parserCode;
                 rtems_status_code status;
                 rtems_id queue_recv_id;
                 rtems_id queue_send_id;
                 initLookUpTableForCRC(); // the table is used to compute Cyclic Redundancy Codes
                 status =  get_message_queue_id_recv( &queue_recv_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_recv %d\n", status)
                 }
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in RECV *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in RECV *** \n")
                 while(1)
                 {
                     len = read( fdSPW, (char*) &currentTC, CCSDS_TC_PKT_MAX_SIZE ); // the call to read is blocking
                     if (len == -1){ // error during the read call
                         PRINTF1("in RECV *** last read call returned -1, ERRNO %d\n", errno)
                     }
                     else {
                         if ( (len+1) < CCSDS_TC_PKT_MIN_SIZE ) {
                             PRINTF("in RECV *** packet lenght too short\n")
                         }
                         else {
                             estimatedPacketLength = (unsigned int) (len - CCSDS_TC_TM_PACKET_OFFSET - 3); // => -3 is for Prot ID, Reserved and User App bytes
                             currentTC_LEN_RCV[ 0 ] = (unsigned char) (estimatedPacketLength >> 8);
                             currentTC_LEN_RCV[ 1 ] = (unsigned char) (estimatedPacketLength     );
                             // CHECK THE TC
                             parserCode = tc_parser( &currentTC, estimatedPacketLength, computed_CRC ) ;
                             if ( (parserCode == ILLEGAL_APID)       || (parserCode == WRONG_LEN_PKT)
                                  || (parserCode == INCOR_CHECKSUM)  || (parserCode == ILL_TYPE)
                                  || (parserCode == ILL_SUBTYPE)     || (parserCode == WRONG_APP_DATA)
                                  || (parserCode == WRONG_SRC_ID) )
                             { // send TM_LFR_TC_EXE_CORRUPTED
                                 PRINTF1("TC corrupted received, with code: %d\n", parserCode)
                                 if ( !( (currentTC.serviceType==TC_TYPE_TIME) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_TIME) )
                                      &&
                                      !( (currentTC.serviceType==TC_TYPE_GEN) && (currentTC.serviceSubType==TC_SUBTYPE_UPDT_INFO))
                                      )
                                 {
                                     if ( parserCode == WRONG_SRC_ID )
                                     {
                                         destinationID = SID_TC_GROUND;
                                     }
                                     else
                                     {
                                         destinationID = currentTC.sourceID;
                                     }
                                     send_tm_lfr_tc_exe_corrupted( &currentTC, queue_send_id,
                                                                   computed_CRC, currentTC_LEN_RCV,
                                                                   destinationID );
                                 }
                             }
                             else
                             { // send valid TC to the action launcher
                                 status =  rtems_message_queue_send( queue_recv_id, &currentTC,
                                                                     estimatedPacketLength + CCSDS_TC_TM_PACKET_OFFSET + 3);
                             }
                         }
                     }
                     update_queue_max_count( queue_recv_id, &hk_lfr_q_rv_fifo_size_max );
                 }
             }
             rtems_task send_task( rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the transmission of TeleMetry packets.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The SEND task waits for a message to become available in the dedicated RTEMS queue. When a message arrives:
                  * - if the first byte is equal to CCSDS_DESTINATION_ID, the message is sent as is using the write system call.
                  * - if the first byte is not equal to CCSDS_DESTINATION_ID, the message is handled as a spw_ioctl_pkt_send. After
                  * analyzis, the packet is sent either using the write system call or using the ioctl call SPACEWIRE_IOCTRL_SEND, depending on the
                  * data it contains.
                  *
                  */
                 rtems_status_code status;                // RTEMS status code
                 char incomingData[MSG_QUEUE_SIZE_SEND];  // incoming data buffer
                 ring_node *incomingRingNodePtr;
                 int ring_node_address;
                 char *charPtr;
                 spw_ioctl_pkt_send *spw_ioctl_send;
                 size_t size;                            // size of the incoming TC packet
                 rtems_id queue_send_id;
                 unsigned int sid;
                 unsigned char sidAsUnsignedChar;
                 unsigned char type;
                 incomingRingNodePtr = NULL;
                 ring_node_address = 0;
                 charPtr = (char *) &ring_node_address;
                 sid = 0;
                 sidAsUnsignedChar = 0;
                 init_header_cwf( &headerCWF );
                 init_header_swf( &headerSWF );
                 init_header_asm( &headerASM );
                 status =  get_message_queue_id_send( &queue_send_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in HOUS *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in SEND *** \n")
                 while(1)
                 {
                     status = rtems_message_queue_receive( queue_send_id, incomingData, &size,
                                                          RTEMS_WAIT, RTEMS_NO_TIMEOUT );
                     if (status!=RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in SEND *** (1) ERR = %d\n", status)
                     }
                     else
                     {
                         if ( size == sizeof(ring_node*) )
                         {
                             charPtr[0] = incomingData[0];
                             charPtr[1] = incomingData[1];
                             charPtr[2] = incomingData[2];
                             charPtr[3] = incomingData[3];
                             incomingRingNodePtr = (ring_node*) ring_node_address;
                             sid = incomingRingNodePtr->sid;
                             if ( (sid==SID_NORM_CWF_LONG_F3)
                                  || (sid==SID_BURST_CWF_F2 )
                                  || (sid==SID_SBM1_CWF_F1  )
                                  || (sid==SID_SBM2_CWF_F2  ))
                             {
                                 spw_send_waveform_CWF( incomingRingNodePtr, &headerCWF );
                             }
                             else if ( (sid==SID_NORM_SWF_F0) || (sid== SID_NORM_SWF_F1) || (sid==SID_NORM_SWF_F2) )
                             {
                                 spw_send_waveform_SWF( incomingRingNodePtr, &headerSWF );
                             }
                             else if ( (sid==SID_NORM_CWF_F3) )
                             {
                                 spw_send_waveform_CWF3_light( incomingRingNodePtr, &headerCWF );
                             }
                             else if (sid==SID_NORM_ASM_F0)
                             {
                                 spw_send_asm_f0( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F1)
                             {
                                 spw_send_asm_f1( incomingRingNodePtr, &headerASM );
                             }
                             else if (sid==SID_NORM_ASM_F2)
                             {
                                 spw_send_asm_f2( incomingRingNodePtr, &headerASM );
                             }
                             else if ( sid==TM_CODE_K_DUMP )
                             {
                                 spw_send_k_dump( incomingRingNodePtr );
                             }
                             else
                             {
                                 PRINTF1("unexpected sid = %d\n", sid);
                             }
                         }
                         else if ( incomingData[0] == CCSDS_DESTINATION_ID ) // the incoming message is a ccsds packet
                         {
                             sidAsUnsignedChar = (unsigned char) incomingData[ PACKET_POS_PA_LFR_SID_PKT ];
                             sid = sidAsUnsignedChar;
                             type = (unsigned char) incomingData[ PACKET_POS_SERVICE_TYPE ];
                             if (type == TM_TYPE_LFR_SCIENCE)    // this is a BP packet, all other types are handled differently
                             // SET THE SEQUENCE_CNT PARAMETER IN CASE OF BP0 OR BP1 PACKETS
                             {
                                 increment_seq_counter_source_id( (unsigned char*) &incomingData[ PACKET_POS_SEQUENCE_CNT ], sid );
                             }
                             status = write( fdSPW, incomingData, size );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                             }
                         }
                         else // the incoming message is a spw_ioctl_pkt_send structure
                         {
                             spw_ioctl_send = (spw_ioctl_pkt_send*) incomingData;
                             status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, spw_ioctl_send );
                             if (status == -1){
                                 PRINTF2("in SEND *** (2.b) ERRNO = %d, RTEMS = %d\n", errno, status)
                             }
                         }
                     }
                     update_queue_max_count( queue_send_id, &hk_lfr_q_sd_fifo_size_max );
                 }
             }
             rtems_task wtdg_task( rtems_task_argument argument )
             {
                 rtems_event_set event_out;
                 rtems_status_code status;
                 int linkStatus;
                 BOOT_PRINTF("in WTDG ***\n")
                 while(1)
                 {
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     PRINTF("in WTDG *** wait for the link\n")
                     status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);       // get the link status
                     while( linkStatus != 5)                                                     // wait for the link
                     {
                         status = rtems_task_wake_after( 10 );                                   // monitor the link each 100ms
                         status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
                     }
                     status = spacewire_stop_and_start_link( fdSPW );
                     if (status != RTEMS_SUCCESSFUL)
                     {
                         PRINTF1("in WTDG *** ERR link not started %d\n", status)
                     }
                     else
                     {
                         PRINTF("in WTDG *** OK  link started\n")
                     }
                     // restart the SPIQ task
                     status = rtems_task_restart( Task_id[TASKID_SPIQ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SPIQ Task\n")
                     }
                     // restart RECV and SEND
                     status = rtems_task_restart( Task_id[ TASKID_SEND ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting SEND Task\n")
                     }
                     status = rtems_task_restart( Task_id[ TASKID_RECV ], 1 );
                     if ( status != RTEMS_SUCCESSFUL ) {
                         PRINTF("in SPIQ *** ERR restarting RECV Task\n")
                     }
                 }
             }
             //****************
             // OTHER FUNCTIONS
             int spacewire_open_link( void )  // by default, the driver resets the core: [SPW_CTRL_WRITE(pDev, SPW_CTRL_RESET);]
             {
                 /** This function opens the SpaceWire link.
                  *
                  * @return a valid file descriptor in case of success, -1 in case of a failure
                  *
                  */
                 rtems_status_code status;
                 fdSPW = open(GRSPW_DEVICE_NAME, O_RDWR); // open the device. the open call resets the hardware
                 if ( fdSPW < 0 ) {
                     PRINTF1("ERR *** in configure_spw_link *** error opening "GRSPW_DEVICE_NAME" with ERR %d\n", errno)
                 }
                 else
                 {
                     status = RTEMS_SUCCESSFUL;
                 }
                 return status;
             }
             int spacewire_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_stop_and_start_link( int fd )
             {
                 rtems_status_code status;
                 status = ioctl( fd, SPACEWIRE_IOCTRL_STOP);      // start fails if link pDev->running != 0
                 status = ioctl( fd, SPACEWIRE_IOCTRL_START, -1); // returns successfuly if the link is started
                                                                     // -1 default hardcoded driver timeout
                 return status;
             }
             int spacewire_configure_link( int fd )
             {
                 /** This function configures the SpaceWire link.
                  *
                  * @return GR-RTEMS-DRIVER directive status codes:
                  * - 22  EINVAL - Null pointer or an out of range value was given as the argument.
                  * - 16  EBUSY - Only used for SEND. Returned when no descriptors are avialble in non-blocking mode.
                  * - 88  ENOSYS - Returned for SET_DESTKEY if RMAP command handler is not available or if a non-implemented call is used.
                  * - 116 ETIMEDOUT - REturned for SET_PACKET_SIZE and START if the link could not be brought up.
                  * - 12  ENOMEM - Returned for SET_PACKETSIZE if it was unable to allocate the new buffers.
                  * - 5   EIO - Error when writing to grswp hardware registers.
                  * - 2   ENOENT - No such file or directory
                  */
                 rtems_status_code status;
                 spacewire_set_NP(1, REGS_ADDR_GRSPW); // [N]o [P]ort force
                 spacewire_set_RE(1, REGS_ADDR_GRSPW); // [R]MAP [E]nable, the dedicated call seems to  break the no port force configuration
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_RXBLOCK, 1);              // sets the blocking mode for reception
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_RXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_EVENT_ID, Task_id[TASKID_SPIQ]); // sets the task ID to which an event is sent when a
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_EVENT_ID\n")          // link-error interrupt occurs
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_DISABLE_ERR, 0);          // automatic link-disabling due to link-error interrupts
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_DISABLE_ERR\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ, 1);         // sets the link-error interrupt bit
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_LINK_ERR_IRQ\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK, 1);              // transmission blocks
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL, 1);      // transmission blocks when no transmission descriptor is available
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TXBLOCK_ON_FULL\n")
                 }
                 //
                 status = ioctl(fd, SPACEWIRE_IOCTRL_SET_TCODE_CTRL, 0x0909); // [Time Rx : Time Tx : Link error : Tick-out IRQ]
                 if (status!=RTEMS_SUCCESSFUL) {
                     PRINTF("in SPIQ *** Error SPACEWIRE_IOCTRL_SET_TCODE_CTRL,\n")
                 }
                 return status;
             }
             int spacewire_reset_link( void )
             {
                 /** This function is executed by the SPIQ rtems_task wehn it has been awaken by an interruption raised by the SpaceWire driver.
                  *
                  * @return RTEMS directive status code:
                  * - RTEMS_UNSATISFIED is returned is the link is not in the running state after 10 s.
                  * - RTEMS_SUCCESSFUL is returned if the link is up before the timeout.
                  *
                  */
                 rtems_status_code status_spw;
                 rtems_status_code status;
                 int i;
                 for ( i=0; i<SY_LFR_DPU_CONNECT_ATTEMPT; i++ )
                 {
                     PRINTF1("in spacewire_reset_link *** link recovery, try %d\n", i);
                     // CLOSING THE DRIVER AT THIS POINT WILL MAKE THE SEND TASK BLOCK THE SYSTEM
                     status = rtems_task_wake_after( SY_LFR_DPU_CONNECT_TIMEOUT );        // wait SY_LFR_DPU_CONNECT_TIMEOUT 1000 ms
                     status_spw = spacewire_stop_and_start_link( fdSPW );
                     if (  status_spw != RTEMS_SUCCESSFUL )
                     {
                         PRINTF1("in spacewire_reset_link *** ERR spacewire_start_link code %d\n",  status_spw)
                     }
                     if ( status_spw == RTEMS_SUCCESSFUL)
                     {
                         break;
                     }
                 }
                 return status_spw;
             }
             void spacewire_set_NP( unsigned char val, unsigned int regAddr ) // [N]o [P]ort force
             {
                 /** This function sets the [N]o [P]ort force bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the NP bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * NP is the bit 20 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1) {
                     *spwptr = *spwptr | 0x00100000; // [NP] set the No port force bit
                 }
                 if (val== 0) {
                     *spwptr = *spwptr & 0xffdfffff;
                 }
             }
             void spacewire_set_RE( unsigned char val, unsigned int regAddr ) // [R]MAP [E]nable
             {
                 /** This function sets the [R]MAP [E]nable bit of the GRSPW control register.
                  *
                  * @param val is the value, 0 or 1, used to set the value of the RE bit.
                  * @param regAddr is the address of the GRSPW control register.
                  *
                  * RE is the bit 16 of the GRSPW control register.
                  *
                  */
                 unsigned int *spwptr = (unsigned int*) regAddr;
                 if (val == 1)
                 {
                     *spwptr = *spwptr | 0x00010000; // [RE] set the RMAP Enable bit
                 }
                 if (val== 0)
                 {
                     *spwptr = *spwptr & 0xfffdffff;
                 }
             }
             void spacewire_compute_stats_offsets( void )
             {
                 /** This function computes the SpaceWire statistics offsets in case of a SpaceWire related interruption raising.
                  *
                  * The offsets keep a record of the statistics in case of a reset of the statistics. They are added to the current statistics
                  * to keep the counters consistent even after a reset of the SpaceWire driver (the counter are set to zero by the driver when it
                  * during the open systel call).
                  *
                  */
                 spw_stats spacewire_stats_grspw;
                 rtems_status_code status;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats_backup.packets_received = spacewire_stats_grspw.packets_received
                         + spacewire_stats.packets_received;
                 spacewire_stats_backup.packets_sent = spacewire_stats_grspw.packets_sent
                         + spacewire_stats.packets_sent;
                 spacewire_stats_backup.parity_err = spacewire_stats_grspw.parity_err
                         + spacewire_stats.parity_err;
                 spacewire_stats_backup.disconnect_err = spacewire_stats_grspw.disconnect_err
                         + spacewire_stats.disconnect_err;
                 spacewire_stats_backup.escape_err = spacewire_stats_grspw.escape_err
                         + spacewire_stats.escape_err;
                 spacewire_stats_backup.credit_err = spacewire_stats_grspw.credit_err
                         + spacewire_stats.credit_err;
                 spacewire_stats_backup.write_sync_err = spacewire_stats_grspw.write_sync_err
                         + spacewire_stats.write_sync_err;
                 spacewire_stats_backup.rx_rmap_header_crc_err = spacewire_stats_grspw.rx_rmap_header_crc_err
                         + spacewire_stats.rx_rmap_header_crc_err;
                 spacewire_stats_backup.rx_rmap_data_crc_err = spacewire_stats_grspw.rx_rmap_data_crc_err
                         + spacewire_stats.rx_rmap_data_crc_err;
                 spacewire_stats_backup.early_ep = spacewire_stats_grspw.early_ep
                         + spacewire_stats.early_ep;
                 spacewire_stats_backup.invalid_address = spacewire_stats_grspw.invalid_address
                         + spacewire_stats.invalid_address;
                 spacewire_stats_backup.rx_eep_err = spacewire_stats_grspw.rx_eep_err
                         + spacewire_stats.rx_eep_err;
                 spacewire_stats_backup.rx_truncated = spacewire_stats_grspw.rx_truncated
                         + spacewire_stats.rx_truncated;
             }
             void spacewire_update_statistics( void )
             {
                 rtems_status_code status;
                 spw_stats spacewire_stats_grspw;
                 status = ioctl( fdSPW, SPACEWIRE_IOCTRL_GET_STATISTICS, &spacewire_stats_grspw );
                 spacewire_stats.packets_received = spacewire_stats_backup.packets_received
                         + spacewire_stats_grspw.packets_received;
                 spacewire_stats.packets_sent = spacewire_stats_backup.packets_sent
                         + spacewire_stats_grspw.packets_sent;
                 spacewire_stats.parity_err = spacewire_stats_backup.parity_err
                         + spacewire_stats_grspw.parity_err;
                 spacewire_stats.disconnect_err = spacewire_stats_backup.disconnect_err
                         + spacewire_stats_grspw.disconnect_err;
                 spacewire_stats.escape_err = spacewire_stats_backup.escape_err
                         + spacewire_stats_grspw.escape_err;
                 spacewire_stats.credit_err = spacewire_stats_backup.credit_err
                         + spacewire_stats_grspw.credit_err;
                 spacewire_stats.write_sync_err = spacewire_stats_backup.write_sync_err
                         + spacewire_stats_grspw.write_sync_err;
                 spacewire_stats.rx_rmap_header_crc_err = spacewire_stats_backup.rx_rmap_header_crc_err
                         + spacewire_stats_grspw.rx_rmap_header_crc_err;
                 spacewire_stats.rx_rmap_data_crc_err = spacewire_stats_backup.rx_rmap_data_crc_err
                         + spacewire_stats_grspw.rx_rmap_data_crc_err;
                 spacewire_stats.early_ep = spacewire_stats_backup.early_ep
                         + spacewire_stats_grspw.early_ep;
                 spacewire_stats.invalid_address = spacewire_stats_backup.invalid_address
                         + spacewire_stats_grspw.invalid_address;
                 spacewire_stats.rx_eep_err = spacewire_stats_backup.rx_eep_err
                         +  spacewire_stats_grspw.rx_eep_err;
                 spacewire_stats.rx_truncated = spacewire_stats_backup.rx_truncated
                         + spacewire_stats_grspw.rx_truncated;
                 //spacewire_stats.tx_link_err;
                 //****************************
                 // DPU_SPACEWIRE_IF_STATISTICS
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[0] = (unsigned char) (spacewire_stats.packets_received >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_rcv_cnt[1] = (unsigned char) (spacewire_stats.packets_received);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[0] = (unsigned char) (spacewire_stats.packets_sent >> 8);
                 housekeeping_packet.hk_lfr_dpu_spw_pkt_sent_cnt[1] = (unsigned char) (spacewire_stats.packets_sent);
                 //housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt;
                 //housekeeping_packet.hk_lfr_dpu_spw_last_timc;
                 //******************************************
                 // ERROR COUNTERS / SPACEWIRE / LOW SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_parity = (unsigned char) spacewire_stats.parity_err;
                 housekeeping_packet.hk_lfr_dpu_spw_disconnect = (unsigned char) spacewire_stats.disconnect_err;
                 housekeeping_packet.hk_lfr_dpu_spw_escape = (unsigned char) spacewire_stats.escape_err;
                 housekeeping_packet.hk_lfr_dpu_spw_credit = (unsigned char) spacewire_stats.credit_err;
                 housekeeping_packet.hk_lfr_dpu_spw_write_sync = (unsigned char) spacewire_stats.write_sync_err;
                 //*********************************************
                 // ERROR COUNTERS / SPACEWIRE / MEDIUM SEVERITY
                 housekeeping_packet.hk_lfr_dpu_spw_early_eop = (unsigned char) spacewire_stats.early_ep;
                 housekeeping_packet.hk_lfr_dpu_spw_invalid_addr = (unsigned char) spacewire_stats.invalid_address;
                 housekeeping_packet.hk_lfr_dpu_spw_eep = (unsigned char) spacewire_stats.rx_eep_err;
                 housekeeping_packet.hk_lfr_dpu_spw_rx_too_big = (unsigned char) spacewire_stats.rx_truncated;
             }
             void timecode_irq_handler( void *pDev, void *regs, int minor, unsigned int tc )
             {
+                OUTPUT_1;
                 // a valid timecode has been received, write it in the HK report
                 unsigned int *grspwPtr;
                 unsigned char timecodeCtr;
                 unsigned char updateTimeCtr;
                 grspwPtr = (unsigned int *) (REGS_ADDR_GRSPW + APB_OFFSET_GRSPW_TIME_REGISTER);
                 housekeeping_packet.hk_lfr_dpu_spw_last_timc = (unsigned char) (grspwPtr[0] & 0xff);   // [1111 1111]
                 timecodeCtr = (unsigned char) (grspwPtr[0] & 0x3f);             // [0011 1111]
                 updateTimeCtr = time_management_regs->coarse_time_load & 0x3f;  // [0011 1111]
                 // update the number of valid timecodes that have been received
                 if (housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt == 255)
                 {
                     housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = 0;
                 }
                 else
                 {
                     housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt = housekeeping_packet.hk_lfr_dpu_spw_tick_out_cnt + 1;
                 }
                 // check the value of the timecode with respect to the last TC_LFR_UPDATE_TIME => SSS-CP-FS-370
                 if (timecodeCtr != updateTimeCtr)
                 {
                     if (housekeeping_packet.hk_lfr_time_timecode_ctr == 255)
                     {
                         housekeeping_packet.hk_lfr_time_timecode_ctr = 0;
                     }
                     else
                     {
                         housekeeping_packet.hk_lfr_time_timecode_ctr = housekeeping_packet.hk_lfr_time_timecode_ctr + 1;
                     }
                 }
+                OUTPUT_0;
             }
             rtems_timer_service_routine user_routine( rtems_id timer_id, void *user_data )
             {
                 int linkStatus;
                 rtems_status_code status;
                 status = ioctl(fdSPW, SPACEWIRE_IOCTRL_GET_LINK_STATUS, &linkStatus);   // get the link status
                 if ( linkStatus == 5) {
                     PRINTF("in spacewire_reset_link *** link is running\n")
                     status = RTEMS_SUCCESSFUL;
                 }
             }
             void init_header_cwf( Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 header->targetLogicalAddress    = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier      = CCSDS_PROTOCOLE_ID;
                 header->reserved                = DEFAULT_RESERVED;
                 header->userApplication         = CCSDS_USER_APP;
                 header->packetSequenceControl[0]= TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]= TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid = 0x00;
                 header->hkBIA = DEFAULT_HKBIA;
                 header->blkNr[0] = 0x00;
                 header->blkNr[1] = 0x00;
             }
             void init_header_swf( Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_6; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid     = 0x00;
                 header->hkBIA   = DEFAULT_HKBIA;
                 header->pktCnt  = DEFAULT_PKTCNT;  // PKT_CNT
                 header->pktNr   = 0x00;
                 header->blkNr[0]        = (unsigned char) (BLK_NR_CWF >> 8);
                 header->blkNr[1]        = (unsigned char) (BLK_NR_CWF     );
             }
             void init_header_asm( Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 header->targetLogicalAddress        = CCSDS_DESTINATION_ID;
                 header->protocolIdentifier          = CCSDS_PROTOCOLE_ID;
                 header->reserved        = DEFAULT_RESERVED;
                 header->userApplication = CCSDS_USER_APP;
                 header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                 header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                 header->packetSequenceControl[0]    = TM_PACKET_SEQ_CTRL_STANDALONE;
                 header->packetSequenceControl[1]    = TM_PACKET_SEQ_CNT_DEFAULT;
                 header->packetLength[0] = 0x00;
                 header->packetLength[1] = 0x00;
                 // DATA FIELD HEADER
                 header->spare1_pusVersion_spare2    = DEFAULT_SPARE1_PUSVERSION_SPARE2;
                 header->serviceType     = TM_TYPE_LFR_SCIENCE; // service type
                 header->serviceSubType  = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 header->destinationID   = TM_DESTINATION_ID_GROUND;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 header->time[0] = 0x00;
                 // AUXILIARY DATA HEADER
                 header->sid     = 0x00;
                 header->biaStatusInfo = 0x00;
                 header->pa_lfr_pkt_cnt_asm = 0x00;
                 header->pa_lfr_pkt_nr_asm = 0x00;
                 header->pa_lfr_asm_blk_nr[0] = 0x00;
                 header->pa_lfr_asm_blk_nr[1] = 0x00;
             }
             int spw_send_waveform_CWF( ring_node *ring_node_to_send,
                                   Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = (unsigned char) ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_336 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_336     );
                 header->hkBIA = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF >> 8);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF     );
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_CWF.hdr  = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF * NB_BYTES_SWF_BLK;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime);
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET PACKET ID
                     if ( (sid == SID_SBM1_CWF_F1) || (sid == SID_SBM2_CWF_F2) )
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2 >> 8);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_SBM1_SBM2);
                     }
                     else
                     {
                         header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                         header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     }
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_SWF( ring_node *ring_node_to_send,
                                    Header_TM_LFR_SCIENCE_SWF_t *header )
             {
                 /** This function sends SWF CCSDS packets (F2, F1 or F0).
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param sid is the source identifier of the data that will be sent.
                  * @param headerSWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * One group of 2048 samples is sent as 7 consecutive packets, 6 packets containing 340 blocks and 8 packets containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_SWF;
                 int *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_SWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_SWF;
                 spw_ioctl_send_SWF.options = 0;
                 ret = LFR_DEFAULT;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 sid = ring_node_to_send->sid;
                 header->hkBIA = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<7; i++) // send waveform
                 {
                     spw_ioctl_send_SWF.data = (char*) &dataPtr[ (i * BLK_NR_304 * NB_WORDS_SWF_BLK) ];
                     spw_ioctl_send_SWF.hdr = (char*) header;
                     // SET PACKET SEQUENCE CONTROL
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET PACKET LENGTH AND BLKNR
                     if (i == 6)
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_224 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_224 >> 8);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_224     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_224 >> 8);
                         header->blkNr[1] = (unsigned char) (BLK_NR_224     );
                     }
                     else
                     {
                         spw_ioctl_send_SWF.dlen = BLK_NR_304 * NB_BYTES_SWF_BLK;
                         header->packetLength[0] = (unsigned char) (TM_LEN_SCI_SWF_304 >> 8);
                         header->packetLength[1] = (unsigned char) (TM_LEN_SCI_SWF_304     );
                         header->blkNr[0] = (unsigned char) (BLK_NR_304 >> 8);
                         header->blkNr[1] = (unsigned char) (BLK_NR_304     );
                     }
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, sid, i, header->acquisitionTime );
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET SID
                     header->sid = sid;
                     // SET PKTNR
                     header->pktNr = i+1;    // PKT_NR
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_SWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             int spw_send_waveform_CWF3_light( ring_node *ring_node_to_send,
                                               Header_TM_LFR_SCIENCE_CWF_t *header )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 unsigned int coarseTime;
                 unsigned int fineTime;
                 rtems_status_code status;
                 spw_ioctl_pkt_send spw_ioctl_send_CWF;
                 char *dataPtr;
                 unsigned char sid;
                 spw_ioctl_send_CWF.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_CWF;
                 spw_ioctl_send_CWF.options = 0;
                 ret = LFR_DEFAULT;
                 sid = ring_node_to_send->sid;
                 coarseTime  = ring_node_to_send->coarseTime;
                 fineTime    = ring_node_to_send->fineTime;
                 dataPtr     = (char*) ring_node_to_send->buffer_address;
                 header->packetLength[0] = (unsigned char) (TM_LEN_SCI_CWF_672 >> 8);
                 header->packetLength[1] = (unsigned char) (TM_LEN_SCI_CWF_672     );
                 header->hkBIA = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 header->blkNr[0] = (unsigned char) (BLK_NR_CWF_SHORT_F3 >> 8);
                 header->blkNr[1] = (unsigned char) (BLK_NR_CWF_SHORT_F3     );
                 //*********************
                 // SEND CWF3_light DATA
                 for (i=0; i<NB_PACKETS_PER_GROUP_OF_CWF_LIGHT; i++) // send waveform
                 {
                     spw_ioctl_send_CWF.data = (char*) &dataPtr[ (i * BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK) ];
                     spw_ioctl_send_CWF.hdr = (char*) header;
                     // BUILD THE DATA
                     spw_ioctl_send_CWF.dlen = BLK_NR_CWF_SHORT_F3 * NB_BYTES_CWF3_LIGHT_BLK;
                     // SET PACKET SEQUENCE COUNTER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     // SET SID
                     header->sid = sid;
                     // SET PACKET TIME
                     compute_acquisition_time( coarseTime, fineTime, SID_NORM_CWF_F3, i, header->acquisitionTime );
                     //
                     header->time[0] = header->acquisitionTime[0];
                     header->time[1] = header->acquisitionTime[1];
                     header->time[2] = header->acquisitionTime[2];
                     header->time[3] = header->acquisitionTime[3];
                     header->time[4] = header->acquisitionTime[4];
                     header->time[5] = header->acquisitionTime[5];
                     // SET PACKET ID
                     header->packetID[0] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST >> 8);
                     header->packetID[1] = (unsigned char) (APID_TM_SCIENCE_NORMAL_BURST);
                     // SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_CWF );
                     if (status != RTEMS_SUCCESSFUL) {
                         ret = LFR_DEFAULT;
                     }
                 }
                 return ret;
             }
             void spw_send_asm_f0( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->biaStatusInfo = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F0_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F0_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F0_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F0_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F0_2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F0_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_asm_f1( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->biaStatusInfo = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     if ((i==0) || (i==1))
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_1;
                         spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_1;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_1) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_1);        // BLK_NR LSB
                     }
                     else
                     {
                         spw_ioctl_send_ASM.dlen = DLEN_ASM_F1_PKT_2;
                         spw_ioctl_send_ASM.data = (char*) &spectral_matrix[
                                 ( (ASM_F1_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F1_1) ) * NB_VALUES_PER_SM )
                                 ];
                         length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F1_2;
                         header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_6;
                         header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F1_2) >> 8 ); // BLK_NR MSB
                         header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F1_2);        // BLK_NR LSB
                     }
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_asm_f2( ring_node *ring_node_to_send,
                                Header_TM_LFR_SCIENCE_ASM_t *header )
             {
                 unsigned int i;
                 unsigned int length = 0;
                 rtems_status_code status;
                 unsigned int sid;
                 float *spectral_matrix;
                 int coarseTime;
                 int fineTime;
                 spw_ioctl_pkt_send spw_ioctl_send_ASM;
                 sid = ring_node_to_send->sid;
                 spectral_matrix = (float*) ring_node_to_send->buffer_address;
                 coarseTime = ring_node_to_send->coarseTime;
                 fineTime = ring_node_to_send->fineTime;
                 header->biaStatusInfo = pa_bia_status_info;
                 header->sy_lfr_common_parameters = parameter_dump_packet.sy_lfr_common_parameters;
                 for (i=0; i<3; i++)
                 {
                     spw_ioctl_send_ASM.dlen = DLEN_ASM_F2_PKT;
                     spw_ioctl_send_ASM.data = (char *) &spectral_matrix[
                             ( (ASM_F2_INDICE_START + (i*NB_BINS_PER_PKT_ASM_F2) ) * NB_VALUES_PER_SM )
                             ];
                     length = PACKET_LENGTH_TM_LFR_SCIENCE_ASM_F2;
                     header->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3;
                     header->pa_lfr_asm_blk_nr[0] = (unsigned char)  ( (NB_BINS_PER_PKT_ASM_F2) >> 8 ); // BLK_NR MSB
                     header->pa_lfr_asm_blk_nr[1] = (unsigned char)    (NB_BINS_PER_PKT_ASM_F2);        // BLK_NR LSB
                     spw_ioctl_send_ASM.hlen = HEADER_LENGTH_TM_LFR_SCIENCE_ASM;
                     spw_ioctl_send_ASM.hdr = (char *) header;
                     spw_ioctl_send_ASM.options = 0;
                     // (2) BUILD THE HEADER
                     increment_seq_counter_source_id( header->packetSequenceControl, sid );
                     header->packetLength[0] = (unsigned char) (length>>8);
                     header->packetLength[1] = (unsigned char) (length);
                     header->sid = (unsigned char) sid;   // SID
                     header->pa_lfr_pkt_cnt_asm = 3;
                     header->pa_lfr_pkt_nr_asm = (unsigned char) (i+1);
                     // (3) SET PACKET TIME
                     header->time[0] = (unsigned char) (coarseTime>>24);
                     header->time[1] = (unsigned char) (coarseTime>>16);
                     header->time[2] = (unsigned char) (coarseTime>>8);
                     header->time[3] = (unsigned char) (coarseTime);
                     header->time[4] = (unsigned char) (fineTime>>8);
                     header->time[5] = (unsigned char) (fineTime);
                     //
                     header->acquisitionTime[0] = header->time[0];
                     header->acquisitionTime[1] = header->time[1];
                     header->acquisitionTime[2] = header->time[2];
                     header->acquisitionTime[3] = header->time[3];
                     header->acquisitionTime[4] = header->time[4];
                     header->acquisitionTime[5] = header->time[5];
                     // (4) SEND PACKET
                     status = ioctl( fdSPW, SPACEWIRE_IOCTRL_SEND, &spw_ioctl_send_ASM );
                     if (status != RTEMS_SUCCESSFUL) {
                         PRINTF1("in ASM_send *** ERR %d\n", (int) status)
                     }
                 }
             }
             void spw_send_k_dump( ring_node *ring_node_to_send )
             {
                 rtems_status_code status;
                 Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *kcoefficients_dump;
                 unsigned int packetLength;
                 unsigned int size;
                 PRINTF("spw_send_k_dump\n")
                 kcoefficients_dump = (Packet_TM_LFR_KCOEFFICIENTS_DUMP_t *) ring_node_to_send->buffer_address;
                 packetLength = kcoefficients_dump->packetLength[0] * 256 + kcoefficients_dump->packetLength[1];
                 size = packetLength + CCSDS_TC_TM_PACKET_OFFSET + CCSDS_PROTOCOLE_EXTRA_BYTES;
                 PRINTF2("packetLength %d, size %d\n", packetLength, size )
                 status = write( fdSPW, (char *) ring_node_to_send->buffer_address, size );
                 if (status == -1){
                     PRINTF2("in SEND *** (2.a) ERRNO = %d, size = %d\n", errno, size)
                 }
                 ring_node_to_send->status = 0x00;
             }

src/processing/fsw_processing.c +20 0

             /** Functions related to data processing.
              *
              * @file
              * @author P. LEROY
              *
              * These function are related to data processing, i.e. spectral matrices averaging and basic parameters computation.
              *
              */
             #include "fsw_processing.h"
             #include "fsw_processing_globals.c"
             #include "fsw_init.h"
             unsigned int nb_sm_f0;
             unsigned int nb_sm_f0_aux_f1;
             unsigned int nb_sm_f1;
             unsigned int nb_sm_f0_aux_f2;
+            extern struct grgpio_regs_str *grgpio_regs;
+            #define OUTPUT_1 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf8;
+            #define OUTPUT_0 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x02;
             //************************
             // spectral matrices rings
             ring_node sm_ring_f0[ NB_RING_NODES_SM_F0 ];
             ring_node sm_ring_f1[ NB_RING_NODES_SM_F1 ];
             ring_node sm_ring_f2[ NB_RING_NODES_SM_F2 ];
             ring_node *current_ring_node_sm_f0;
             ring_node *current_ring_node_sm_f1;
             ring_node *current_ring_node_sm_f2;
             ring_node *ring_node_for_averaging_sm_f0;
             ring_node *ring_node_for_averaging_sm_f1;
             ring_node *ring_node_for_averaging_sm_f2;
             //
             ring_node * getRingNodeForAveraging( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 0:
                     node = ring_node_for_averaging_sm_f0;
                     break;
                 case 1:
                     node = ring_node_for_averaging_sm_f1;
                     break;
                 case 2:
                     node = ring_node_for_averaging_sm_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             //***********************************************************
             // Interrupt Service Routine for spectral matrices processing
             void spectral_matrices_isr_f0( unsigned char statusReg )
             {
+            //    OUTPUT_1;
                 unsigned char status;
                 rtems_status_code status_code;
                 ring_node *full_ring_node;
                 status = statusReg & 0x03;   // [0011] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0x03;   // [0011]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     full_ring_node = current_ring_node_sm_f0->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f0_0_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f0_0_fine_time;
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_0_address = current_ring_node_sm_f0->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f0 = nb_sm_f0 + 1;
                     if (nb_sm_f0 == NB_SM_BEFORE_AVF0)
                     {
                         ring_node_for_averaging_sm_f0 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f0 = 0;
                     }
                     spectral_matrix_regs->status = 0x01;   // [0000 0001]
                     break;
                 case 2:
                     full_ring_node = current_ring_node_sm_f0->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f0_1_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f0_1_fine_time;
                     current_ring_node_sm_f0 = current_ring_node_sm_f0->next;
                     spectral_matrix_regs->f0_1_address = current_ring_node_sm_f0->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f0 = nb_sm_f0 + 1;
                     if (nb_sm_f0 == NB_SM_BEFORE_AVF0)
                     {
                         ring_node_for_averaging_sm_f0 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f0 = 0;
                     }
                     spectral_matrix_regs->status = 0x02;   // [0000 0010]
                     break;
                 }
+            //    OUTPUT_0;
             }
             void spectral_matrices_isr_f1( unsigned char statusReg )
             {
+            //    OUTPUT_1;
                 rtems_status_code status_code;
                 unsigned char status;
                 ring_node *full_ring_node;
                 status = (statusReg & 0x0c) >> 2;   // [1100] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0xc0;   // [1100]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     full_ring_node = current_ring_node_sm_f1->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f1_0_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f1_0_fine_time;
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_0_address = current_ring_node_sm_f1->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f1 = nb_sm_f1 + 1;
                     if (nb_sm_f1 == NB_SM_BEFORE_AVF1)
                     {
                         ring_node_for_averaging_sm_f1 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f1 = 0;
                     }
                     spectral_matrix_regs->status = 0x04;   // [0000 0100]
                     break;
                 case 2:
                     full_ring_node = current_ring_node_sm_f1->previous;
                     full_ring_node->coarseTime = spectral_matrix_regs->f1_1_coarse_time;
                     full_ring_node->fineTime = spectral_matrix_regs->f1_1_fine_time;
                     current_ring_node_sm_f1 = current_ring_node_sm_f1->next;
                     spectral_matrix_regs->f1_1_address = current_ring_node_sm_f1->buffer_address;
                     // if there are enough ring nodes ready, wake up an AVFx task
                     nb_sm_f1 = nb_sm_f1 + 1;
                     if (nb_sm_f1 == NB_SM_BEFORE_AVF1)
                     {
                         ring_node_for_averaging_sm_f1 = full_ring_node;
                         if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                         {
                             status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                         }
                         nb_sm_f1 = 0;
                     }
                     spectral_matrix_regs->status = 0x08;   // [1000 0000]
                     break;
                 }
+            //    OUTPUT_0;
             }
             void spectral_matrices_isr_f2( unsigned char statusReg )
             {
+            //    OUTPUT_1;
                 unsigned char status;
                 rtems_status_code status_code;
                 status = (statusReg & 0x30) >> 4;   // [0011 0000] get the status_ready_matrix_f0_x bits
                 switch(status)
                 {
                 case 0:
                     break;
                 case 3:
                     // UNEXPECTED VALUE
                     spectral_matrix_regs->status = 0x30;   // [0011 0000]
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_11 );
                     break;
                 case 1:
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2->previous;
                     current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                     ring_node_for_averaging_sm_f2->coarseTime = spectral_matrix_regs->f2_0_coarse_time;
                     ring_node_for_averaging_sm_f2->fineTime = spectral_matrix_regs->f2_0_fine_time;
                     spectral_matrix_regs->f2_0_address = current_ring_node_sm_f2->buffer_address;
                     spectral_matrix_regs->status = 0x10;   // [0001 0000]
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 case 2:
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2->previous;
                     current_ring_node_sm_f2 = current_ring_node_sm_f2->next;
                     ring_node_for_averaging_sm_f2->coarseTime = spectral_matrix_regs->f2_1_coarse_time;
                     ring_node_for_averaging_sm_f2->fineTime = spectral_matrix_regs->f2_1_fine_time;
                     spectral_matrix_regs->f2_1_address = current_ring_node_sm_f2->buffer_address;
                     spectral_matrix_regs->status = 0x20;   // [0010 0000]
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     break;
                 }
+            //    OUTPUT_0;
             }
             void spectral_matrix_isr_error_handler( unsigned char statusReg )
             {
                 rtems_status_code status_code;
                 if (statusReg & 0x7c0)    // [0111 1100 0000]
                 {
                     status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_8 );
                 }
                 spectral_matrix_regs->status = spectral_matrix_regs->status & 0x7c0;
             }
             rtems_isr spectral_matrices_isr( rtems_vector_number vector )
             {
                 // STATUS REGISTER
                 // input_fifo_write(2) *** input_fifo_write(1) *** input_fifo_write(0)
                 //           10                    9                       8
                 // buffer_full ** bad_component_err ** f2_1 ** f2_0 ** f1_1 ** f1_0 ** f0_1 ** f0_0
                 //      7                  6             5       4       3       2       1       0
                 unsigned char statusReg;
+            //    OUTPUT_1;
                 statusReg = spectral_matrix_regs->status;
                 spectral_matrices_isr_f0( statusReg );
                 spectral_matrices_isr_f1( statusReg );
                 spectral_matrices_isr_f2( statusReg );
                 spectral_matrix_isr_error_handler( statusReg );
+            //    OUTPUT_0;
             }
             rtems_isr spectral_matrices_isr_simu( rtems_vector_number vector )
             {
                 rtems_status_code status_code;
                 //***
                 // F0
                 nb_sm_f0 = nb_sm_f0 + 1;
                 if (nb_sm_f0 == NB_SM_BEFORE_AVF0 )
                 {
                     ring_node_for_averaging_sm_f0 = current_ring_node_sm_f0;
                     if (rtems_event_send( Task_id[TASKID_AVF0], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm_f0 = 0;
                 }
                 //***
                 // F1
                 nb_sm_f0_aux_f1 = nb_sm_f0_aux_f1 + 1;
                 if (nb_sm_f0_aux_f1 == 6)
                 {
                     nb_sm_f0_aux_f1 = 0;
                     nb_sm_f1 = nb_sm_f1 + 1;
                 }
                 if (nb_sm_f1 == NB_SM_BEFORE_AVF1 )
                 {
                     ring_node_for_averaging_sm_f1 = current_ring_node_sm_f1;
                     if (rtems_event_send( Task_id[TASKID_AVF1], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                     nb_sm_f1 = 0;
                 }
                 //***
                 // F2
                 nb_sm_f0_aux_f2 = nb_sm_f0_aux_f2 + 1;
                 if (nb_sm_f0_aux_f2 == 96)
                 {
                     nb_sm_f0_aux_f2 = 0;
                     ring_node_for_averaging_sm_f2 = current_ring_node_sm_f2;
                     if (rtems_event_send( Task_id[TASKID_AVF2], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL)
                     {
                         status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_3 );
                     }
                 }
             }
             //******************
             // Spectral Matrices
             void reset_nb_sm( void )
             {
                 nb_sm_f0 = 0;
                 nb_sm_f0_aux_f1 = 0;
                 nb_sm_f0_aux_f2 = 0;
                 nb_sm_f1 = 0;
             }
             void SM_init_rings( void )
             {
                 init_ring( sm_ring_f0, NB_RING_NODES_SM_F0, sm_f0, TOTAL_SIZE_SM );
                 init_ring( sm_ring_f1, NB_RING_NODES_SM_F1, sm_f1, TOTAL_SIZE_SM );
                 init_ring( sm_ring_f2, NB_RING_NODES_SM_F2, sm_f2, TOTAL_SIZE_SM );
                 DEBUG_PRINTF1("sm_ring_f0 @%x\n", (unsigned int) sm_ring_f0)
                 DEBUG_PRINTF1("sm_ring_f1 @%x\n", (unsigned int) sm_ring_f1)
                 DEBUG_PRINTF1("sm_ring_f2 @%x\n", (unsigned int) sm_ring_f2)
                 DEBUG_PRINTF1("sm_f0 @%x\n", (unsigned int) sm_f0)
                 DEBUG_PRINTF1("sm_f1 @%x\n", (unsigned int) sm_f1)
                 DEBUG_PRINTF1("sm_f2 @%x\n", (unsigned int) sm_f2)
             }
             void ASM_generic_init_ring( ring_node_asm *ring, unsigned char nbNodes )
             {
                 unsigned char i;
                 ring[ nbNodes - 1 ].next
                         = (ring_node_asm*) &ring[ 0 ];
                 for(i=0; i<nbNodes-1; i++)
                 {
                     ring[ i ].next            = (ring_node_asm*) &ring[ i + 1 ];
                 }
             }
             void SM_reset_current_ring_nodes( void )
             {
                 current_ring_node_sm_f0 = sm_ring_f0[0].next;
                 current_ring_node_sm_f1 = sm_ring_f1[0].next;
                 current_ring_node_sm_f2 = sm_ring_f2[0].next;
                 ring_node_for_averaging_sm_f0 = NULL;
                 ring_node_for_averaging_sm_f1 = NULL;
                 ring_node_for_averaging_sm_f2 = NULL;
             }
             //*****************
             // Basic Parameters
             void BP_init_header( bp_packet *packet,
                                  unsigned int apid, unsigned char sid,
                                  unsigned int packetLength, unsigned char blkNr )
             {
                 packet->targetLogicalAddress = CCSDS_DESTINATION_ID;
                 packet->protocolIdentifier = CCSDS_PROTOCOLE_ID;
                 packet->reserved = 0x00;
                 packet->userApplication = CCSDS_USER_APP;
                 packet->packetID[0] = (unsigned char) (apid >> 8);
                 packet->packetID[1] = (unsigned char) (apid);
                 packet->packetSequenceControl[0] = TM_PACKET_SEQ_CTRL_STANDALONE;
                 packet->packetSequenceControl[1] = 0x00;
                 packet->packetLength[0] = (unsigned char) (packetLength >> 8);
                 packet->packetLength[1] = (unsigned char) (packetLength);
                 // DATA FIELD HEADER
                 packet->spare1_pusVersion_spare2 = 0x10;
                 packet->serviceType = TM_TYPE_LFR_SCIENCE; // service type
                 packet->serviceSubType = TM_SUBTYPE_LFR_SCIENCE_3; // service subtype
                 packet->destinationID = TM_DESTINATION_ID_GROUND;
                 packet->time[0] = 0x00;
                 packet->time[1] = 0x00;
                 packet->time[2] = 0x00;
                 packet->time[3] = 0x00;
                 packet->time[4] = 0x00;
                 packet->time[5] = 0x00;
                 // AUXILIARY DATA HEADER
                 packet->sid = sid;
                 packet->biaStatusInfo = 0x00;
                 packet->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->biaStatusInfo = 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)
                 }
             }
             //******************
             // 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 ] =
                                 compressed_spec_mat[ offsetCompressed ] / (divider * nbBinsToAverage);
                     }
                 }
             }
             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 = parameter_dump_packet.sy_lfr_fbins_f0_word1;
                     break;
                 case 1:
                     sy_lfr_fbins_fx_word1 = parameter_dump_packet.sy_lfr_fbins_f1_word1;
                     break;
                 case 2:
                     sy_lfr_fbins_fx_word1 = parameter_dump_packet.sy_lfr_fbins_f2_word1;
                     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;
             }
             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/wf_handler.c +8 0

             /** Functions and tasks related to waveform packet generation.
              *
              * @file
              * @author P. LEROY
              *
              * A group of functions to handle waveforms, in snapshot or continuous format.\n
              *
              */
             #include "wf_handler.h"
+            extern struct grgpio_regs_str *grgpio_regs;
+            #define OUTPUT_1 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register & 0xf8;
+            #define OUTPUT_0 grgpio_regs->io_port_output_register = grgpio_regs->io_port_output_register | 0x02;
             //***************
             // waveform rings
             // F0
             ring_node waveform_ring_f0[NB_RING_NODES_F0];
             ring_node *current_ring_node_f0;
             ring_node *ring_node_to_send_swf_f0;
             // F1
             ring_node waveform_ring_f1[NB_RING_NODES_F1];
             ring_node *current_ring_node_f1;
             ring_node *ring_node_to_send_swf_f1;
             ring_node *ring_node_to_send_cwf_f1;
             // F2
             ring_node waveform_ring_f2[NB_RING_NODES_F2];
             ring_node *current_ring_node_f2;
             ring_node *ring_node_to_send_swf_f2;
             ring_node *ring_node_to_send_cwf_f2;
             // F3
             ring_node waveform_ring_f3[NB_RING_NODES_F3];
             ring_node *current_ring_node_f3;
             ring_node *ring_node_to_send_cwf_f3;
             char wf_cont_f3_light[ (NB_SAMPLES_PER_SNAPSHOT) * NB_BYTES_CWF3_LIGHT_BLK ];
             bool extractSWF = false;
             bool swf_f0_ready = false;
             bool swf_f1_ready = false;
             bool swf_f2_ready = false;
             int wf_snap_extracted[ (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK) ];
             ring_node ring_node_wf_snap_extracted;
             //*********************
             // Interrupt SubRoutine
             ring_node * getRingNodeToSendCWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 1:
                     node = ring_node_to_send_cwf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_cwf_f2;
                     break;
                 case 3:
                     node = ring_node_to_send_cwf_f3;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             ring_node * getRingNodeToSendSWF( unsigned char frequencyChannel)
             {
                 ring_node *node;
                 node = NULL;
                 switch ( frequencyChannel ) {
                 case 0:
                     node = ring_node_to_send_swf_f0;
                     break;
                 case 1:
                     node = ring_node_to_send_swf_f1;
                     break;
                 case 2:
                     node = ring_node_to_send_swf_f2;
                     break;
                 default:
                     break;
                 }
                 return node;
             }
             void reset_extractSWF( void )
             {
                 extractSWF = false;
                 swf_f0_ready = false;
                 swf_f1_ready = false;
                 swf_f2_ready = false;
             }
             inline void waveforms_isr_f3( void )
             {
                 rtems_status_code spare_status;
                 if ( (lfrCurrentMode == LFR_MODE_NORMAL) || (lfrCurrentMode == LFR_MODE_BURST)  // in BURST the data are used to place v, e1 and e2 in the HK packet
                      || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode == LFR_MODE_SBM2) )
                 { // in modes other than STANDBY and BURST, send the CWF_F3 data
                     //***
                     // F3
                     if ( (waveform_picker_regs->status & 0xc0) != 0x00 ) {  // [1100 0000] check the f3 full bits
                         ring_node_to_send_cwf_f3    = current_ring_node_f3->previous;
                         current_ring_node_f3        = current_ring_node_f3->next;
                         if ((waveform_picker_regs->status & 0x40) == 0x40){         // [0100 0000] f3 buffer 0 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_0_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_0_fine_time;
                             waveform_picker_regs->addr_data_f3_0    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & 0x00008840; // [1000 1000 0100 0000]
                         }
                         else if ((waveform_picker_regs->status & 0x80) == 0x80){     // [1000 0000] f3 buffer 1 is full
                             ring_node_to_send_cwf_f3->coarseTime    = waveform_picker_regs->f3_1_coarse_time;
                             ring_node_to_send_cwf_f3->fineTime      = waveform_picker_regs->f3_1_fine_time;
                             waveform_picker_regs->addr_data_f3_1    = current_ring_node_f3->buffer_address;
                             waveform_picker_regs->status            = waveform_picker_regs->status & 0x00008880; // [1000 1000 1000 0000]
                         }
                         if (rtems_event_send( Task_id[TASKID_CWF3], RTEMS_EVENT_0 ) != RTEMS_SUCCESSFUL) {
                             spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                         }
                     }
                 }
             }
             inline void waveforms_isr_normal( void )
             {
                 rtems_status_code status;
                 if ( ( (waveform_picker_regs->status & 0x30) != 0x00 )      // [0011 0000] check the f2 full bits
                      && ( (waveform_picker_regs->status & 0x0c) != 0x00 )   // [0000 1100] check the f1 full bits
                      && ( (waveform_picker_regs->status & 0x03) != 0x00 ))  // [0000 0011] check the f0 full bits
                 {
                     //***
                     // F0
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                     //***
                     // F1
                     ring_node_to_send_swf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     //***
                     // F2
                     ring_node_to_send_swf_f2    = current_ring_node_f2->previous;
                     current_ring_node_f2        = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                     //
                     status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_NORMAL );
                     if ( status != RTEMS_SUCCESSFUL)
                     {
                         status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                 }
             }
             inline void waveforms_isr_burst( void )
             {
                 unsigned char status;
                 rtems_status_code spare_status;
                 status = (waveform_picker_regs->status & 0x30) >> 4;   // [0011 0000] get the status bits for f2
                 switch(status)
                 {
                 case 1:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     break;
                 case 2:
                     ring_node_to_send_cwf_f2                = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid           = SID_BURST_CWF_F2;
                     ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                     ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                     current_ring_node_f2                    = current_ring_node_f2->next;
                     waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                     if (rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_BURST ) != RTEMS_SUCCESSFUL) {
                         spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_0 );
                     }
                     waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     break;
                 default:
                     break;
                 }
             }
             inline void waveforms_isr_sbm1( void )
             {
                 rtems_status_code status;
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [0000 1100] check the f1 full bits
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_cwf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_cwf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                     // (2) send an event for the the CWF1 task for transmission (and snapshot extraction if needed)
                     status = rtems_event_send( Task_id[TASKID_CWF1], RTEMS_EVENT_MODE_SBM1 );
                 }
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & 0x03) != 0x00 ) {  // [0000 0011] check the f0 full bits
                     swf_f0_ready = true;
                     // change f0 buffer
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                 }
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & 0x30) != 0x00 ) {  // [0011 0000] check the f2 full bits
                     swf_f2_ready = true;
                     // change f2 buffer
                     ring_node_to_send_swf_f2    = current_ring_node_f2->previous;
                     current_ring_node_f2        = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_swf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_swf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                 }
             }
             inline void waveforms_isr_sbm2( void )
             {
                 rtems_status_code status;
                 //***
                 // F2
                 if ( (waveform_picker_regs->status & 0x30) != 0x00 ) {  // [0011 0000] check the f2 full bit
                     // (1) change the receiving buffer for the waveform picker
                     ring_node_to_send_cwf_f2      = current_ring_node_f2->previous;
                     ring_node_to_send_cwf_f2->sid = SID_SBM2_CWF_F2;
                     current_ring_node_f2          = current_ring_node_f2->next;
                     if ( (waveform_picker_regs->status & 0x10) == 0x10)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_0_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_0_fine_time;
                         waveform_picker_regs->addr_data_f2_0    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004410; // [0100 0100 0001 0000]
                     }
                     else if ( (waveform_picker_regs->status & 0x20) == 0x20)
                     {
                         ring_node_to_send_cwf_f2->coarseTime    = waveform_picker_regs->f2_1_coarse_time;
                         ring_node_to_send_cwf_f2->fineTime      = waveform_picker_regs->f2_1_fine_time;
                         waveform_picker_regs->addr_data_f2_1    = current_ring_node_f2->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00004420; // [0100 0100 0010 0000]
                     }
                     // (2) send an event for the waveforms transmission
                     status = rtems_event_send( Task_id[TASKID_CWF2], RTEMS_EVENT_MODE_SBM2 );
                 }
                 //***
                 // F0
                 if ( (waveform_picker_regs->status & 0x03) != 0x00 ) {  // [0000 0011] check the f0 full bit
                     swf_f0_ready = true;
                     // change f0 buffer
                     ring_node_to_send_swf_f0    = current_ring_node_f0->previous;
                     current_ring_node_f0        = current_ring_node_f0->next;
                     if ( (waveform_picker_regs->status & 0x01) == 0x01)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_0_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_0_fine_time;
                         waveform_picker_regs->addr_data_f0_0    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001101; // [0001 0001 0000 0001]
                     }
                     else if ( (waveform_picker_regs->status & 0x02) == 0x02)
                     {
                         ring_node_to_send_swf_f0->coarseTime    = waveform_picker_regs->f0_1_coarse_time;
                         ring_node_to_send_swf_f0->fineTime      = waveform_picker_regs->f0_1_fine_time;
                         waveform_picker_regs->addr_data_f0_1    = current_ring_node_f0->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00001102; // [0001 0001 0000 0010]
                     }
                 }
                 //***
                 // F1
                 if ( (waveform_picker_regs->status & 0x0c) != 0x00 ) {  // [0000 1100] check the f1 full bit
                     swf_f1_ready = true;
                     ring_node_to_send_swf_f1    = current_ring_node_f1->previous;
                     current_ring_node_f1        = current_ring_node_f1->next;
                     if ( (waveform_picker_regs->status & 0x04) == 0x04)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_0_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_0_fine_time;
                         waveform_picker_regs->addr_data_f1_0    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002204; // [0010 0010 0000 0100] f1 bits = 0
                     }
                     else if ( (waveform_picker_regs->status & 0x08) == 0x08)
                     {
                         ring_node_to_send_swf_f1->coarseTime    = waveform_picker_regs->f1_1_coarse_time;
                         ring_node_to_send_swf_f1->fineTime      = waveform_picker_regs->f1_1_fine_time;
                         waveform_picker_regs->addr_data_f1_1    = current_ring_node_f1->buffer_address;
                         waveform_picker_regs->status            = waveform_picker_regs->status & 0x00002208; // [0010 0010 0000 1000] f1 bits = 0
                     }
                 }
             }
             rtems_isr waveforms_isr( rtems_vector_number vector )
             {
                 /** This is the interrupt sub routine called by the waveform picker core.
                  *
                  * This ISR launch different actions depending mainly on two pieces of information:
                  * 1. the values read in the registers of the waveform picker.
                  * 2. the current LFR mode.
                  *
                  */
                 // STATUS
                 // new error        error buffer full
                 // 15 14 13 12      11 10 9  8
                 // f3 f2 f1 f0      f3 f2 f1 f0
                 //
                 // ready buffer
                 // 7    6    5    4    3    2    1    0
                 // f3_1 f3_0 f2_1 f2_0 f1_1 f1_0 f0_1 f0_0
+            //    OUTPUT_1;
                 rtems_status_code spare_status;
                 waveforms_isr_f3();
                 if ( (waveform_picker_regs->status & 0xff00) != 0x00)    // [1111 1111 0000 0000] check the error bits
                 {
                     spare_status = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_10 );
                 }
                 switch(lfrCurrentMode)
                 {
                     //********
                     // STANDBY
                     case(LFR_MODE_STANDBY):
                     break;
                     //******
                     // NORMAL
                     case(LFR_MODE_NORMAL):
                     waveforms_isr_normal();
                     break;
                     //******
                     // BURST
                     case(LFR_MODE_BURST):
                     waveforms_isr_burst();
                     break;
                     //*****
                     // SBM1
                     case(LFR_MODE_SBM1):
                     waveforms_isr_sbm1();
                     break;
                     //*****
                     // SBM2
                     case(LFR_MODE_SBM2):
                     waveforms_isr_sbm2();
                     break;
                     //********
                     // DEFAULT
                     default:
                     break;
                 }
+            //    OUTPUT_0;
             }
             //************
             // RTEMS TASKS
             rtems_task wfrm_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of snapshots of the NORMAL mode.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packets are sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F0
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F1
                  * - TM_LFR_SCIENCE_NORMAL_SWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 bool resynchronisationEngaged;
                 ring_node *ring_node_wf_snap_extracted_ptr;
                 ring_node_wf_snap_extracted_ptr = (ring_node *) &ring_node_wf_snap_extracted;
                 resynchronisationEngaged = false;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in WFRM *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in WFRM ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive(RTEMS_EVENT_MODE_NORMAL | RTEMS_EVENT_MODE_SBM1
                                         | RTEMS_EVENT_MODE_SBM2 | RTEMS_EVENT_MODE_SBM2_WFRM,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if(resynchronisationEngaged == false)
                     {   // engage resynchronisation
                         snapshot_resynchronization( (unsigned char *)  &ring_node_to_send_swf_f0->coarseTime );
                         resynchronisationEngaged = true;
                     }
                     else
                     {   // reset delta_snapshot to the nominal value
                         PRINTF("no resynchronisation, reset delta_snapshot to the nominal value\n")
                         set_wfp_delta_snapshot();
                         resynchronisationEngaged = false;
                     }
                     //
                     if (event_out == RTEMS_EVENT_MODE_NORMAL)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_NORMAL\n")
                         ring_node_to_send_swf_f0->sid = SID_NORM_SWF_F0;
                         ring_node_to_send_swf_f1->sid = SID_NORM_SWF_F1;
                         ring_node_to_send_swf_f2->sid = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f1, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f2, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM1\n")
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_wf_snap_extracted_ptr->sid    = SID_NORM_SWF_F1;
                         ring_node_to_send_swf_f2->sid           = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_wf_snap_extracted_ptr, sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f2,        sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         DEBUG_PRINTF("WFRM received RTEMS_EVENT_MODE_SBM2\n")
                         ring_node_to_send_swf_f0->sid           = SID_NORM_SWF_F0;
                         ring_node_to_send_swf_f1->sid           = SID_NORM_SWF_F1;
                         ring_node_wf_snap_extracted_ptr->sid    = SID_NORM_SWF_F2;
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f0,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send_swf_f1,        sizeof( ring_node* ) );
                         status =  rtems_message_queue_send( queue_id, &ring_node_wf_snap_extracted_ptr, sizeof( ring_node* ) );
                     }
                 }
             }
             rtems_task cwf3_task(rtems_task_argument argument) //used with the waveform picker VHDL IP
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f3.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this task:
                  * - TM_LFR_SCIENCE_NORMAL_CWF_F3
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node ring_node_cwf3_light;
                 ring_node *ring_node_to_send_cwf;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF3 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                 // init the ring_node_cwf3_light structure
                 ring_node_cwf3_light.buffer_address = (int) wf_cont_f3_light;
                 ring_node_cwf3_light.coarseTime = 0x00;
                 ring_node_cwf3_light.fineTime = 0x00;
                 ring_node_cwf3_light.next = NULL;
                 ring_node_cwf3_light.previous = NULL;
                 ring_node_cwf3_light.sid = SID_NORM_CWF_F3;
                 ring_node_cwf3_light.status = 0x00;
                 BOOT_PRINTF("in CWF3 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_0,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if ( (lfrCurrentMode == LFR_MODE_NORMAL)
                          || (lfrCurrentMode == LFR_MODE_SBM1) || (lfrCurrentMode==LFR_MODE_SBM2) )
                     {
                         ring_node_to_send_cwf = getRingNodeToSendCWF( 3 );
                         if ( (parameter_dump_packet.sy_lfr_n_cwf_long_f3 & 0x01) == 0x01)
                         {
                             PRINTF("send CWF_LONG_F3\n")
                             ring_node_to_send_cwf_f3->sid = SID_NORM_CWF_LONG_F3;
                             status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                         }
                         else
                         {
                             PRINTF("send CWF_F3 (light)\n")
                             send_waveform_CWF3_light( ring_node_to_send_cwf, &ring_node_cwf3_light, queue_id );
                         }
                     }
                     else
                     {
                         PRINTF1("in CWF3 *** lfrCurrentMode is %d, no data will be sent\n", lfrCurrentMode)
                     }
                 }
             }
             rtems_task cwf2_task(rtems_task_argument argument)  // ONLY USED IN BURST AND SBM2
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f2.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_BURST_CWF_F2
                  * - TM_LFR_SCIENCE_SBM2_CWF_F2
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send;
                 unsigned long long int acquisitionTimeF0_asLong;
                 acquisitionTimeF0_asLong = 0x00;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF2 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF2 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_BURST | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send = getRingNodeToSendCWF( 2 );
                     if (event_out == RTEMS_EVENT_MODE_BURST)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                     }
                     if (event_out == RTEMS_EVENT_MODE_SBM2)
                     {
                         status =  rtems_message_queue_send( queue_id, &ring_node_to_send, sizeof( ring_node* ) );
                         // launch snapshot extraction if needed
                         if (extractSWF == true)
                         {
                             ring_node_to_send_swf_f2 = ring_node_to_send_cwf_f2;
                             // extract the snapshot
                             build_snapshot_from_ring( ring_node_to_send_swf_f2, 2, acquisitionTimeF0_asLong );
                             // send the snapshot when built
                             status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM2 );
                             extractSWF = false;
                         }
                         if (swf_f0_ready && swf_f1_ready)
                         {
                             extractSWF = true;
                             // record the acquition time of the fà snapshot to use to build the snapshot at f2
                             acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                             swf_f0_ready = false;
                             swf_f1_ready = false;
                         }
                     }
                 }
             }
             rtems_task cwf1_task(rtems_task_argument argument)  // ONLY USED IN SBM1
             {
                 /** This RTEMS task is dedicated to the transmission of continuous waveforms at f1.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  * The following data packet is sent by this function:
                  * - TM_LFR_SCIENCE_SBM1_CWF_F1
                  *
                  */
                 rtems_event_set event_out;
                 rtems_id queue_id;
                 rtems_status_code status;
                 ring_node *ring_node_to_send_cwf;
                 status =  get_message_queue_id_send( &queue_id );
                 if (status != RTEMS_SUCCESSFUL)
                 {
                     PRINTF1("in CWF1 *** ERR get_message_queue_id_send %d\n", status)
                 }
                 BOOT_PRINTF("in CWF1 ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     ring_node_to_send_cwf = getRingNodeToSendCWF( 1 );
                     ring_node_to_send_cwf_f1->sid = SID_SBM1_CWF_F1;
                     status =  rtems_message_queue_send( queue_id, &ring_node_to_send_cwf, sizeof( ring_node* ) );
                     if (status != 0)
                     {
                         PRINTF("cwf sending failed\n")
                     }
                     // launch snapshot extraction if needed
                     if (extractSWF == true)
                     {
                         ring_node_to_send_swf_f1 = ring_node_to_send_cwf;
                         // launch the snapshot extraction
                         status = rtems_event_send( Task_id[TASKID_SWBD], RTEMS_EVENT_MODE_SBM1 );
                         extractSWF = false;
                     }
                     if (swf_f0_ready == true)
                     {
                         extractSWF = true;
                         swf_f0_ready = false;   // this step shall be executed only one time
                     }
                     if ((swf_f1_ready == true) && (swf_f2_ready == true))   // swf_f1 is ready after the extraction
                     {
                         status = rtems_event_send( Task_id[TASKID_WFRM], RTEMS_EVENT_MODE_SBM1 );
                         swf_f1_ready = false;
                         swf_f2_ready = false;
                     }
                 }
             }
             rtems_task swbd_task(rtems_task_argument argument)
             {
                 /** This RTEMS task is dedicated to the building of snapshots from different continuous waveforms buffers.
                  *
                  * @param unused is the starting argument of the RTEMS task
                  *
                  */
                 rtems_event_set event_out;
                 unsigned long long int acquisitionTimeF0_asLong;
                 acquisitionTimeF0_asLong = 0x00;
                 BOOT_PRINTF("in SWBD ***\n")
                 while(1){
                     // wait for an RTEMS_EVENT
                     rtems_event_receive( RTEMS_EVENT_MODE_SBM1 | RTEMS_EVENT_MODE_SBM2,
                                         RTEMS_WAIT | RTEMS_EVENT_ANY, RTEMS_NO_TIMEOUT, &event_out);
                     if (event_out == RTEMS_EVENT_MODE_SBM1)
                     {
                         acquisitionTimeF0_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send_swf_f0->coarseTime );
                         build_snapshot_from_ring( ring_node_to_send_swf_f1, 1, acquisitionTimeF0_asLong );
                         swf_f1_ready = true;    // the snapshot has been extracted and is ready to be sent
                     }
                     else
                     {
                         PRINTF1("in SWBD *** unexpected rtems event received %x\n", (int) event_out)
                     }
                 }
             }
             //******************
             // general functions
             void WFP_init_rings( void )
             {
                 // F0 RING
                 init_ring( waveform_ring_f0, NB_RING_NODES_F0, wf_buffer_f0, WFRM_BUFFER );
                 // F1 RING
                 init_ring( waveform_ring_f1, NB_RING_NODES_F1, wf_buffer_f1, WFRM_BUFFER );
                 // F2 RING
                 init_ring( waveform_ring_f2, NB_RING_NODES_F2, wf_buffer_f2, WFRM_BUFFER );
                 // F3 RING
                 init_ring( waveform_ring_f3, NB_RING_NODES_F3, wf_buffer_f3, WFRM_BUFFER );
                 ring_node_wf_snap_extracted.buffer_address = (int) wf_snap_extracted;
                 DEBUG_PRINTF1("waveform_ring_f0 @%x\n", (unsigned int) waveform_ring_f0)
                 DEBUG_PRINTF1("waveform_ring_f1 @%x\n", (unsigned int) waveform_ring_f1)
                 DEBUG_PRINTF1("waveform_ring_f2 @%x\n", (unsigned int) waveform_ring_f2)
                 DEBUG_PRINTF1("waveform_ring_f3 @%x\n", (unsigned int) waveform_ring_f3)
                 DEBUG_PRINTF1("wf_buffer_f0 @%x\n", (unsigned int) wf_buffer_f0)
                 DEBUG_PRINTF1("wf_buffer_f1 @%x\n", (unsigned int) wf_buffer_f1)
                 DEBUG_PRINTF1("wf_buffer_f2 @%x\n", (unsigned int) wf_buffer_f2)
                 DEBUG_PRINTF1("wf_buffer_f3 @%x\n", (unsigned int) wf_buffer_f3)
             }
             void WFP_reset_current_ring_nodes( void )
             {
                 current_ring_node_f0      = waveform_ring_f0[0].next;
                 current_ring_node_f1      = waveform_ring_f1[0].next;
                 current_ring_node_f2      = waveform_ring_f2[0].next;
                 current_ring_node_f3      = waveform_ring_f3[0].next;
                 ring_node_to_send_swf_f0  = waveform_ring_f0;
                 ring_node_to_send_swf_f1  = waveform_ring_f1;
                 ring_node_to_send_swf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f1  = waveform_ring_f1;
                 ring_node_to_send_cwf_f2  = waveform_ring_f2;
                 ring_node_to_send_cwf_f3  = waveform_ring_f3;
             }
             int send_waveform_CWF3_light( ring_node *ring_node_to_send, ring_node *ring_node_cwf3_light, rtems_id queue_id )
             {
                 /** This function sends CWF_F3 CCSDS packets without the b1, b2 and b3 data.
                  *
                  * @param waveform points to the buffer containing the data that will be send.
                  * @param headerCWF points to a table of headers that have been prepared for the data transmission.
                  * @param queue_id is the id of the rtems queue to which spw_ioctl_pkt_send structures will be send. The structures
                  * contain information to setup the transmission of the data packets.
                  *
                  * By default, CWF_F3 packet are send without the b1, b2 and b3 data. This function rebuilds a data buffer
                  * from the incoming data and sends it in 7 packets, 6 containing 340 blocks and 1 one containing 8 blocks.
                  *
                  */
                 unsigned int i;
                 int ret;
                 rtems_status_code status;
                 char *sample;
                 int *dataPtr;
                 ret = LFR_DEFAULT;
                 dataPtr     = (int*) ring_node_to_send->buffer_address;
                 ring_node_cwf3_light->coarseTime = ring_node_to_send->coarseTime;
                 ring_node_cwf3_light->fineTime = ring_node_to_send->fineTime;
                 //**********************
                 // BUILD CWF3_light DATA
                 for ( i=0; i< NB_SAMPLES_PER_SNAPSHOT; i++)
                 {
                     sample = (char*) &dataPtr[ (i * NB_WORDS_SWF_BLK) ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK)     ] = sample[ 0 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 1 ] = sample[ 1 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 2 ] = sample[ 2 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 3 ] = sample[ 3 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 4 ] = sample[ 4 ];
                     wf_cont_f3_light[ (i * NB_BYTES_CWF3_LIGHT_BLK) + 5 ] = sample[ 5 ];
                 }
                 // SEND PACKET
                 status =  rtems_message_queue_send( queue_id, &ring_node_cwf3_light, sizeof( ring_node* ) );
                 if (status != RTEMS_SUCCESSFUL) {
                     ret = LFR_DEFAULT;
                 }
                 return ret;
             }
             void compute_acquisition_time( unsigned int coarseTime, unsigned int fineTime,
                                            unsigned int sid, unsigned char pa_lfr_pkt_nr, unsigned char * acquisitionTime )
             {
                 unsigned long long int acquisitionTimeAsLong;
                 unsigned char localAcquisitionTime[6];
                 double deltaT;
                 deltaT = 0.;
                 localAcquisitionTime[0] = (unsigned char) ( coarseTime >> 24 );
                 localAcquisitionTime[1] = (unsigned char) ( coarseTime >> 16 );
                 localAcquisitionTime[2] = (unsigned char) ( coarseTime >> 8  );
                 localAcquisitionTime[3] = (unsigned char) ( coarseTime       );
                 localAcquisitionTime[4] = (unsigned char) ( fineTime   >> 8  );
                 localAcquisitionTime[5] = (unsigned char) ( fineTime         );
                 acquisitionTimeAsLong = ( (unsigned long long int) localAcquisitionTime[0] << 40 )
                         + ( (unsigned long long int) localAcquisitionTime[1] << 32 )
                         + ( (unsigned long long int) localAcquisitionTime[2] << 24 )
                         + ( (unsigned long long int) localAcquisitionTime[3] << 16 )
                         + ( (unsigned long long int) localAcquisitionTime[4] << 8  )
                         + ( (unsigned long long int) localAcquisitionTime[5]       );
                 switch( sid )
                 {
                 case SID_NORM_SWF_F0:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 24576. ;
                     break;
                 case SID_NORM_SWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 4096. ;
                     break;
                 case SID_NORM_SWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_304 * 65536. / 256. ;
                     break;
                 case SID_SBM1_CWF_F1:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 4096. ;
                     break;
                 case SID_SBM2_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_BURST_CWF_F2:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 256. ;
                     break;
                 case SID_NORM_CWF_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF_SHORT_F3 * 65536. / 16. ;
                     break;
                 case SID_NORM_CWF_LONG_F3:
                     deltaT = ( (double ) (pa_lfr_pkt_nr) ) * BLK_NR_CWF * 65536. / 16. ;
                     break;
                 default:
                     PRINTF1("in compute_acquisition_time *** ERR unexpected sid %d\n", sid)
                     deltaT = 0.;
                     break;
                 }
                 acquisitionTimeAsLong = acquisitionTimeAsLong + (unsigned long long int) deltaT;
                 //
                 acquisitionTime[0] = (unsigned char) (acquisitionTimeAsLong >> 40);
                 acquisitionTime[1] = (unsigned char) (acquisitionTimeAsLong >> 32);
                 acquisitionTime[2] = (unsigned char) (acquisitionTimeAsLong >> 24);
                 acquisitionTime[3] = (unsigned char) (acquisitionTimeAsLong >> 16);
                 acquisitionTime[4] = (unsigned char) (acquisitionTimeAsLong >> 8 );
                 acquisitionTime[5] = (unsigned char) (acquisitionTimeAsLong      );
             }
             void build_snapshot_from_ring( ring_node *ring_node_to_send, unsigned char frequencyChannel, unsigned long long int acquisitionTimeF0_asLong )
             {
                 unsigned int i;
                 unsigned long long int centerTime_asLong;
                 unsigned long long int acquisitionTime_asLong;
                 unsigned long long int bufferAcquisitionTime_asLong;
                 unsigned char *ptr1;
                 unsigned char *ptr2;
                 unsigned char *timeCharPtr;
                 unsigned char nb_ring_nodes;
                 unsigned long long int frequency_asLong;
                 unsigned long long int nbTicksPerSample_asLong;
                 unsigned long long int nbSamplesPart1_asLong;
                 unsigned long long int sampleOffset_asLong;
                 unsigned int deltaT_F0;
                 unsigned int deltaT_F1;
                 unsigned long long int deltaT_F2;
                 deltaT_F0 = 2731;      // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 deltaT_F1 = 16384;  // (2048. / 4096.  / 2.) * 65536. = 16384;
                 deltaT_F2 = 262144; // (2048. / 256.   / 2.) * 65536. = 262144;
                 sampleOffset_asLong = 0x00;
                 // (1) get the f0 acquisition time => the value is passed in argument
                 // (2) compute the central reference time
                 centerTime_asLong = acquisitionTimeF0_asLong + deltaT_F0;
                 // (3) compute the acquisition time of the current snapshot
                 switch(frequencyChannel)
                 {
                 case 1: // 1 is for F1 = 4096 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F1;
                     nb_ring_nodes = NB_RING_NODES_F1;
                     frequency_asLong = 4096;
                     nbTicksPerSample_asLong = 16;  // 65536 / 4096;
                     break;
                 case 2: // 2 is for F2 = 256 Hz
                     acquisitionTime_asLong = centerTime_asLong - deltaT_F2;
                     nb_ring_nodes = NB_RING_NODES_F2;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;  // 65536 / 256;
                     break;
                 default:
                     acquisitionTime_asLong = centerTime_asLong;
                     frequency_asLong = 256;
                     nbTicksPerSample_asLong = 256;
                     break;
                 }
                 //****************************************************************************
                 // (4) search the ring_node with the acquisition time <= acquisitionTime_asLong
                 for (i=0; i<nb_ring_nodes; i++)
                 {
                     PRINTF1("%d ... ", i)
                     bufferAcquisitionTime_asLong = get_acquisition_time( (unsigned char *) &ring_node_to_send->coarseTime );
                     if (bufferAcquisitionTime_asLong <= acquisitionTime_asLong)
                     {
                         PRINTF1("buffer found with acquisition time = %llx\n", bufferAcquisitionTime_asLong)
                         break;
                     }
                     ring_node_to_send = ring_node_to_send->previous;
                 }
                 // (5) compute the number of samples to take in the current buffer
                 sampleOffset_asLong = ((acquisitionTime_asLong - bufferAcquisitionTime_asLong) * frequency_asLong ) >> 16;
                 nbSamplesPart1_asLong = NB_SAMPLES_PER_SNAPSHOT - sampleOffset_asLong;
                 PRINTF2("sampleOffset_asLong = %lld, nbSamplesPart1_asLong = %lld\n", sampleOffset_asLong, nbSamplesPart1_asLong)
                 // (6) compute the final acquisition time
                 acquisitionTime_asLong = bufferAcquisitionTime_asLong +
                         sampleOffset_asLong * nbTicksPerSample_asLong;
                 // (7) copy the acquisition time at the beginning of the extrated snapshot
                 ptr1 = (unsigned char*) &acquisitionTime_asLong;
                 // fine time
                 ptr2 = (unsigned char*) &ring_node_wf_snap_extracted.fineTime;
                 ptr2[2] = ptr1[ 4 + 2 ];
                 ptr2[3] = ptr1[ 5 + 2 ];
                 // coarse time
                 ptr2 = (unsigned char*) &ring_node_wf_snap_extracted.coarseTime;
                 ptr2[0] = ptr1[ 0 + 2 ];
                 ptr2[1] = ptr1[ 1 + 2 ];
                 ptr2[2] = ptr1[ 2 + 2 ];
                 ptr2[3] = ptr1[ 3 + 2 ];
                 // re set the synchronization bit
                 timeCharPtr = (unsigned char*) &ring_node_to_send->coarseTime;
                 ptr2[0] = ptr2[0] | (timeCharPtr[0] & 0x80); // [1000 0000]
                 if ( (nbSamplesPart1_asLong >= NB_SAMPLES_PER_SNAPSHOT) | (nbSamplesPart1_asLong < 0) )
                 {
                     nbSamplesPart1_asLong = 0;
                 }
                 // copy the part 1 of the snapshot in the extracted buffer
                 for ( i = 0; i < (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ i + (sampleOffset_asLong * NB_WORDS_SWF_BLK) ];
                 }
                 // copy the part 2 of the snapshot in the extracted buffer
                 ring_node_to_send = ring_node_to_send->next;
                 for ( i = (nbSamplesPart1_asLong * NB_WORDS_SWF_BLK); i < (NB_SAMPLES_PER_SNAPSHOT * NB_WORDS_SWF_BLK); i++ )
                 {
                     wf_snap_extracted[i] =
                             ((int*) ring_node_to_send->buffer_address)[ (i-(nbSamplesPart1_asLong * NB_WORDS_SWF_BLK)) ];
                 }
             }
             void snapshot_resynchronization( unsigned char *timePtr )
             {
                 unsigned long long int acquisitionTime;
                 unsigned long long int centerTime;
                 unsigned long long int previousTick;
                 unsigned long long int nextTick;
                 unsigned long long int deltaPreviousTick;
                 unsigned long long int deltaNextTick;
                 unsigned int deltaTickInF2;
                 double deltaPrevious;
                 double deltaNext;
                 acquisitionTime = get_acquisition_time( timePtr );
                 // compute center time
                 centerTime = acquisitionTime + 2731;    // (2048. / 24576. / 2.) * 65536. = 2730.667;
                 previousTick = centerTime - (centerTime & 0xffff);
                 nextTick = previousTick + 65536;
                 deltaPreviousTick   = centerTime - previousTick;
                 deltaNextTick       = nextTick - centerTime;
                 deltaPrevious       = ((double) deltaPreviousTick) / 65536. * 1000.;
                 deltaNext           = ((double) deltaNextTick) / 65536. * 1000.;
                 PRINTF2("delta previous = %f ms, delta next = %f ms\n", deltaPrevious, deltaNext)
                 PRINTF2("delta previous = %llu, delta next = %llu\n", deltaPreviousTick, deltaNextTick)
                 // which tick is the closest
                 if (deltaPreviousTick > deltaNextTick)
                 {
                     deltaTickInF2 = floor( (deltaNext * 256. / 1000.) ); // the division by 2 is important here
                     waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot + deltaTickInF2;
                     PRINTF1("correction of = + %u\n", deltaTickInF2)
                 }
                 else
                 {
                     deltaTickInF2 = floor( (deltaPrevious * 256. / 1000.) ); // the division by 2 is important here
                     waveform_picker_regs->delta_snapshot = waveform_picker_regs->delta_snapshot - deltaTickInF2;
                     PRINTF1("correction of = - %u\n", deltaTickInF2)
                 }
             }
             //**************
             // wfp registers
             void reset_wfp_burst_enable( void )
             {
                 /** This function resets the waveform picker burst_enable register.
                  *
                  * The burst bits [f2 f1 f0] and the enable bits [f3 f2 f1 f0] are set to 0.
                  *
                  */
                 // [1000 000] burst f2, f1, f0     enable f3, f2, f1, f0
                 waveform_picker_regs->run_burst_enable = waveform_picker_regs->run_burst_enable & 0x80;
             }
             void reset_wfp_status( void )
             {
                 /** This function resets the waveform picker status register.
                  *
                  * All status bits are set to 0 [new_err full_err full].
                  *
                  */
                 waveform_picker_regs->status = 0xffff;
             }
             void reset_wfp_buffer_addresses( void )
             {
                 // F0
                 waveform_picker_regs->addr_data_f0_0 = current_ring_node_f0->previous->buffer_address;  // 0x08
                 waveform_picker_regs->addr_data_f0_1 = current_ring_node_f0->buffer_address;            // 0x0c
                 // F1
                 waveform_picker_regs->addr_data_f1_0 = current_ring_node_f1->previous->buffer_address;  // 0x10
                 waveform_picker_regs->addr_data_f1_1 = current_ring_node_f1->buffer_address;            // 0x14
                 // F2
                 waveform_picker_regs->addr_data_f2_0 = current_ring_node_f2->previous->buffer_address;  // 0x18
                 waveform_picker_regs->addr_data_f2_1 = current_ring_node_f2->buffer_address;            // 0x1c
                 // F3
                 waveform_picker_regs->addr_data_f3_0 = current_ring_node_f3->previous->buffer_address;  // 0x20
                 waveform_picker_regs->addr_data_f3_1 = current_ring_node_f3->buffer_address;            // 0x24
             }
             void reset_waveform_picker_regs( void )
             {
                 /** This function resets the waveform picker module registers.
                 *
                 * The registers affected by this function are located at the following offset addresses:
                 * - 0x00 data_shaping
                 * - 0x04 run_burst_enable
                 * - 0x08 addr_data_f0
                 * - 0x0C addr_data_f1
                 * - 0x10 addr_data_f2
                 * - 0x14 addr_data_f3
                 * - 0x18 status
                 * - 0x1C delta_snapshot
                 * - 0x20 delta_f0
                 * - 0x24 delta_f0_2
                 * - 0x28 delta_f1
                 * - 0x2c delta_f2
                 * - 0x30 nb_data_by_buffer
                 * - 0x34 nb_snapshot_param
                 * - 0x38 start_date
                 * - 0x3c nb_word_in_buffer
                 *
                 */
                 set_wfp_data_shaping();                                     // 0x00 *** R1 R0 SP1 SP0 BW
                 reset_wfp_burst_enable();                                   // 0x04 *** [run *** burst f2, f1, f0 *** enable f3, f2, f1, f0 ]
                 reset_wfp_buffer_addresses();
                 reset_wfp_status();                                         // 0x18
                 set_wfp_delta_snapshot();   // 0x1c *** 300 s => 0x12bff
                 set_wfp_delta_f0_f0_2();    // 0x20, 0x24
                 set_wfp_delta_f1();         // 0x28
                 set_wfp_delta_f2();         // 0x2c
                 DEBUG_PRINTF1("delta_snapshot %x\n",    waveform_picker_regs->delta_snapshot)
                 DEBUG_PRINTF1("delta_f0 %x\n",          waveform_picker_regs->delta_f0)
                 DEBUG_PRINTF1("delta_f0_2 %x\n",        waveform_picker_regs->delta_f0_2)
                 DEBUG_PRINTF1("delta_f1 %x\n",          waveform_picker_regs->delta_f1)
                 DEBUG_PRINTF1("delta_f2 %x\n",          waveform_picker_regs->delta_f2)
                 // 2688 = 8 * 336
                 waveform_picker_regs->nb_data_by_buffer = 0xa7f; // 0x30 *** 2688 - 1 => nb samples -1
                 waveform_picker_regs->snapshot_param    = 0xa80; // 0x34 *** 2688 => nb samples
                 waveform_picker_regs->start_date        = 0x7fffffff;  // 0x38
                 //
                 // coarse time and fine time registers are not initialized, they are volatile
                 //
                 waveform_picker_regs->buffer_length     = 0x1f8;// buffer length in burst = 3 * 2688 / 16 = 504 = 0x1f8
             }
             void set_wfp_data_shaping( void )
             {
                 /** This function sets the data_shaping register of the waveform picker module.
                  *
                  * The value is read from one field of the parameter_dump_packet structure:\n
                  * bw_sp0_sp1_r0_r1
                  *
                  */
                 unsigned char data_shaping;
                 // get the parameters for the data shaping [BW SP0 SP1 R0 R1] in sy_lfr_common1 and configure the register
                 // waveform picker : [R1 R0 SP1 SP0 BW]
                 data_shaping = parameter_dump_packet.sy_lfr_common_parameters;
                 waveform_picker_regs->data_shaping =
                           ( (data_shaping & 0x20) >> 5 )     // BW
                         + ( (data_shaping & 0x10) >> 3 )     // SP0
                         + ( (data_shaping & 0x08) >> 1 )     // SP1
                         + ( (data_shaping & 0x04) << 1 )     // R0
                         + ( (data_shaping & 0x02) << 3 )     // R1
                         + ( (data_shaping & 0x01) << 5 );    // R2
             }
             void set_wfp_burst_enable_register( unsigned char mode )
             {
                 /** This function sets the waveform picker burst_enable register depending on the mode.
                  *
                  * @param mode is the LFR mode to launch.
                  *
                  * The burst bits shall be before the enable bits.
                  *
                  */
                 // [0000 0000] burst f2, f1, f0 enable f3 f2 f1 f0
                 // the burst bits shall be set first, before the enable bits
                 switch(mode) {
                 case(LFR_MODE_NORMAL):
                     waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enable
                     waveform_picker_regs->run_burst_enable = 0x0f; // [0000 1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_BURST):
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
             //        waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x04; // [0100] enable f2
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0c; // [1100] enable f3 AND f2
                     break;
                 case(LFR_MODE_SBM1):
                     waveform_picker_regs->run_burst_enable = 0x20;  // [0010 0000] f1 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 case(LFR_MODE_SBM2):
                     waveform_picker_regs->run_burst_enable = 0x40;  // [0100 0000] f2 burst enabled
                     waveform_picker_regs->run_burst_enable =  waveform_picker_regs->run_burst_enable | 0x0f; // [1111] enable f3 f2 f1 f0
                     break;
                 default:
                     waveform_picker_regs->run_burst_enable = 0x00;  // [0000 0000] no burst enabled, no waveform enabled
                     break;
                 }
             }
             void set_wfp_delta_snapshot( void )
             {
                 /** This function sets the delta_snapshot register of the waveform picker module.
                  *
                  * The value is read from two (unsigned char) of the parameter_dump_packet structure:
                  * - sy_lfr_n_swf_p[0]
                  * - sy_lfr_n_swf_p[1]
                  *
                  */
                 unsigned int delta_snapshot;
                 unsigned int delta_snapshot_in_T2;
                 delta_snapshot = parameter_dump_packet.sy_lfr_n_swf_p[0]*256
                         + parameter_dump_packet.sy_lfr_n_swf_p[1];
                 delta_snapshot_in_T2 = delta_snapshot * 256;
                 waveform_picker_regs->delta_snapshot = delta_snapshot_in_T2 - 1;    // max 4 bytes
             }
             void set_wfp_delta_f0_f0_2( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f0_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f0_in_float =nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 24576.) * 256.;
                 waveform_picker_regs->delta_f0      =  delta_snapshot - floor( delta_f0_in_float );
                 waveform_picker_regs->delta_f0_2    = 0x30;         // 48 = 11 0000, max 7 bits
             }
             void set_wfp_delta_f1( void )
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 float delta_f1_in_float;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 delta_f1_in_float = nb_samples_per_snapshot / 2. * ( 1. / 256. - 1. / 4096.) * 256.;
                 waveform_picker_regs->delta_f1 = delta_snapshot - floor( delta_f1_in_float );
             }
             void set_wfp_delta_f2()
             {
                 unsigned int delta_snapshot;
                 unsigned int nb_samples_per_snapshot;
                 delta_snapshot = waveform_picker_regs->delta_snapshot;
                 nb_samples_per_snapshot = parameter_dump_packet.sy_lfr_n_swf_l[0] * 256 + parameter_dump_packet.sy_lfr_n_swf_l[1];
                 waveform_picker_regs->delta_f2 = delta_snapshot - nb_samples_per_snapshot / 2;
             }
             //*****************
             // local parameters
             void increment_seq_counter_source_id( unsigned char *packet_sequence_control, unsigned int sid )
             {
                 /** This function increments the parameter "sequence_cnt" depending on the sid passed in argument.
                  *
                  * @param packet_sequence_control is a pointer toward the parameter sequence_cnt to update.
                  * @param sid is the source identifier of the packet being updated.
                  *
                  * REQ-LFR-SRS-5240 / SSS-CP-FS-590
                  * The sequence counters shall wrap around from 2^14 to zero.
                  * The sequence counter shall start at zero at startup.
                  *
                  * REQ-LFR-SRS-5239 / SSS-CP-FS-580
                  * All TM_LFR_SCIENCE_ packets are sent to ground, i.e. destination id = 0
                  *
                  */
                 unsigned short *sequence_cnt;
                 unsigned short segmentation_grouping_flag;
                 unsigned short new_packet_sequence_control;
                 rtems_mode initial_mode_set;
                 rtems_mode current_mode_set;
                 rtems_status_code status;
                 //******************************************
                 // CHANGE THE MODE OF THE CALLING RTEMS TASK
                 status =  rtems_task_mode( RTEMS_NO_PREEMPT, RTEMS_PREEMPT_MASK, &initial_mode_set );
                 if ( (sid == SID_NORM_SWF_F0)    || (sid == SID_NORM_SWF_F1) || (sid == SID_NORM_SWF_F2)
                      || (sid == SID_NORM_CWF_F3) || (sid == SID_NORM_CWF_LONG_F3)
                      || (sid == SID_BURST_CWF_F2)
                      || (sid == SID_NORM_ASM_F0) || (sid == SID_NORM_ASM_F1) || (sid == SID_NORM_ASM_F2)
                      || (sid == SID_NORM_BP1_F0) || (sid == SID_NORM_BP1_F1) || (sid == SID_NORM_BP1_F2)
                      || (sid == SID_NORM_BP2_F0) || (sid == SID_NORM_BP2_F1) || (sid == SID_NORM_BP2_F2)
                      || (sid == SID_BURST_BP1_F0) || (sid == SID_BURST_BP2_F0)
                      || (sid == SID_BURST_BP1_F1) || (sid == SID_BURST_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_NORMAL_BURST;
                 }
                 else if ( (sid ==SID_SBM1_CWF_F1) || (sid ==SID_SBM2_CWF_F2)
                           || (sid == SID_SBM1_BP1_F0) || (sid == SID_SBM1_BP2_F0)
                           || (sid == SID_SBM2_BP1_F0) || (sid == SID_SBM2_BP2_F0)
                           || (sid == SID_SBM2_BP1_F1) || (sid == SID_SBM2_BP2_F1) )
                 {
                     sequence_cnt = (unsigned short *) &sequenceCounters_SCIENCE_SBM1_SBM2;
                 }
                 else
                 {
                     sequence_cnt = (unsigned short *) NULL;
                     PRINTF1("in increment_seq_counter_source_id *** ERR apid_destid %d not known\n", sid)
                 }
                 if (sequence_cnt != NULL)
                 {
                     segmentation_grouping_flag  = TM_PACKET_SEQ_CTRL_STANDALONE << 8;
                     *sequence_cnt                = (*sequence_cnt) & 0x3fff;
                     new_packet_sequence_control = segmentation_grouping_flag | (*sequence_cnt) ;
                     packet_sequence_control[0] = (unsigned char) (new_packet_sequence_control >> 8);
                     packet_sequence_control[1] = (unsigned char) (new_packet_sequence_control     );
                     // increment the sequence counter
                     if ( *sequence_cnt < SEQ_CNT_MAX)
                     {
                         *sequence_cnt = *sequence_cnt + 1;
                     }
                     else
                     {
                         *sequence_cnt = 0;
                     }
                 }
                 //*************************************
                 // RESTORE THE MODE OF THE CALLING TASK
                 status =  rtems_task_mode( initial_mode_set, RTEMS_PREEMPT_MASK, &current_mode_set );
             }

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