HG_REPOSITORIES/LPP/INSTRUMENTATION/USERS/JEANDET/LFR_FSW Commit - r402:eb452cd0caf8

Disabled most dead code + set CMake min Ver to 3.5

jeandet -

r402:eb452cd0caf8 R3++

parent child

Context file:

r402:eb452cd0caf8

CMakeLists.txt +1 -1

-            cmake_minimum_required (VERSION 3.6)
+            cmake_minimum_required (VERSION 3.5)
             project (LFR_FSW)
             if(NOT CMAKE_BUILD_TYPE)
               set(CMAKE_BUILD_TYPE "Release" CACHE STRING
                   "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
             endif(NOT CMAKE_BUILD_TYPE)
             set(LFR_BP_SRC ${CMAKE_CURRENT_SOURCE_DIR}/LFR_basic-parameters/basic_parameters.c)
             SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/sparc")
             add_subdirectory(libgcov)
             add_subdirectory(src)

header/tc_handler.h 0 -5

             #ifndef TC_HANDLER_H_INCLUDED
             #define TC_HANDLER_H_INCLUDED
             #include <rtems.h>
             #include <leon.h>
             #include "tc_load_dump_parameters.h"
             #include "tc_acceptance.h"
             #include "tm_lfr_tc_exe.h"
             #include "wf_handler.h"
             #include "fsw_processing.h"
             #include "lfr_cpu_usage_report.h"
             #define MAX_DELTA_COARSE_TIME   3
             #define NB_SCIENCE_TASKS        10
             #define NB_ASM_TASKS            6
             #define STATUS_0    0
             #define STATUS_1    1
             #define STATUS_2    2
             #define STATUS_3    3
             #define STATUS_4    4
             #define STATUS_5    5
             #define STATUS_6    6
             #define STATUS_7    7
             #define STATUS_8    8
             #define STATUS_9    9
             #define CAL_F0              625.
             #define CAL_F1              10000.
             #define CAL_W0              (2. * pi * CAL_F0)
             #define CAL_W1              (2. * pi * CAL_F1)
             #define CAL_A0              1.
             #define CAL_A1              2.
             #define CAL_FS              160256.410
             #define CAL_SCALE_FACTOR    (0.250 / 0.000654) // 191, 500 mVpp, 2 sinus waves => 500 mVpp each, amplitude = 250 mV
             #define CAL_NB_PTS          256
             #define CAL_DATA_MASK       0xfff
             #define CAL_F_DIVISOR       38  // 25 MHz => 160 256 (39 - 1)
             #define CAL_F_DIVISOR_MIN       38
             #define CAL_F_DIVISOR_MAX       (38*2*2*2*2)
             // INTERLEAVED MODE
             #define CAL_FS_INTER          240384.615
             #define CAL_NB_PTS_INTER      384
             #define CAL_DATA_MASK_INTER   0x3f
             #define CAL_DATA_SHIFT_INTER  12
             #define BYTES_FOR_2_SAMPLES   3   // one need 3 bytes = 24 bits to store 3 samples of 12 bits in interleaved mode
             #define STEPS_FOR_STORAGE_INTER 128
             #define CAL_F_DIVISOR_INTER 26  // 25 MHz => 240 384
             extern unsigned int lastValidEnterModeTime;
             extern unsigned char oneTcLfrUpdateTimeReceived;
-            //****
-            // ISR
-            rtems_isr commutation_isr1( rtems_vector_number vector );
-            rtems_isr commutation_isr2( rtems_vector_number vector );
             //***********
             // RTEMS TASK
             rtems_task actn_task( rtems_task_argument unused );
             //***********
             // TC ACTIONS
             int action_reset( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_enter_mode(ccsdsTelecommandPacket_t *TC, rtems_id queue_id);
             int action_update_info( ccsdsTelecommandPacket_t *TC, rtems_id queue_id );
             int action_enable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_disable_calibration( ccsdsTelecommandPacket_t *TC, rtems_id queue_id, unsigned char *time );
             int action_update_time( ccsdsTelecommandPacket_t *TC);
             // mode transition
             int check_mode_value( unsigned char requestedMode );
             int check_mode_transition( unsigned char requestedMode );
             void update_last_valid_transition_date( unsigned int transitionCoarseTime );
             int check_transition_date( unsigned int transitionCoarseTime );
             int stop_spectral_matrices( void );
             int stop_current_mode( void );
             int enter_mode_standby(void );
             int enter_mode_normal( unsigned int transitionCoarseTime );
             int enter_mode_burst( unsigned int transitionCoarseTime );
             int enter_mode_sbm1( unsigned int transitionCoarseTime );
             int enter_mode_sbm2( unsigned int transitionCoarseTime );
             int restart_science_tasks( unsigned char lfrRequestedMode );
             int restart_asm_tasks(unsigned char lfrRequestedMode );
             int suspend_science_tasks(void);
             int suspend_asm_tasks( void );
             void launch_waveform_picker( unsigned char mode , unsigned int transitionCoarseTime );
             void launch_spectral_matrix( void );
             void set_sm_irq_onNewMatrix( unsigned char value );
             void set_sm_irq_onError( unsigned char value );
             // other functions
             void updateLFRCurrentMode(unsigned char requestedMode);
             void set_lfr_soft_reset( unsigned char value );
             void reset_lfr( void );
             // CALIBRATION
             void setCalibrationPrescaler( unsigned int prescaler );
             void setCalibrationDivisor( unsigned int divisionFactor );
             void setCalibrationData( void );
             void setCalibrationReload( bool state);
             void setCalibrationEnable( bool state );
             void setCalibrationInterleaved( bool state );
             void setCalibration( bool state );
             void configureCalibration( bool interleaved );
             //
             void update_last_TC_exe( ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void update_last_TC_rej(ccsdsTelecommandPacket_t *TC , unsigned char *time );
             void close_action( ccsdsTelecommandPacket_t *TC, int result, rtems_id queue_id );
             extern rtems_status_code get_message_queue_id_send( rtems_id *queue_id );
             extern rtems_status_code get_message_queue_id_recv( rtems_id *queue_id );
             #endif // TC_HANDLER_H_INCLUDED

libgcov/CMakeLists.txt +2 -2

-            cmake_minimum_required(VERSION 3.6)
+            cmake_minimum_required(VERSION 3.5)
             project(libgcov C)
             include(sparc-rtems)
             include(cppcheck)
             set(LIB_GCOV_SOURCES
                 gcov-io.c
                 gcov-io.h
                 gcov-iov.h
                 libgcov.c
             )
             if(Coverage)
-            #    add_definitions(-DGCOV_USE_EXIT)
+                add_definitions(-DGCOV_USE_EXIT)
                 add_definitions(-DGCOV_ENABLED)
             endif()
             add_library(gcov STATIC ${LIB_GCOV_SOURCES})
             add_custom_target(gcovr
                 COMMAND gcovr --exclude='.*gcov.*' --gcov-executable=${rtems_dir}/bin/sparc-rtems-gcov  --object-directory ${CMAKE_BINARY_DIR}  -r ${CMAKE_SOURCE_DIR}  --html  --html-details -o ${CMAKE_CURRENT_BINARY_DIR}/gcov.html && xdg-open ${CMAKE_CURRENT_BINARY_DIR}/gcov.html
                 )

sparc/sparc-rtems.cmake +1 -1

             set(rtems_dir /opt/rtems-4.10/)
             set(CMAKE_SYSTEM_NAME rtems)
             set(CMAKE_C_COMPILER ${rtems_dir}/bin/sparc-rtems-gcc)
             set(CMAKE_CXX_COMPILER ${rtems_dir}/bin/sparc-rtems-g++)
             set(CMAKE_LINKER  ${rtems_dir}/bin/sparc-rtems-g++)
             SET(CMAKE_EXE_LINKER_FLAGS "-static")
             option(fix-b2bst "Activate -mfix-b2bst switch to mitigate \"LEON3FT Stale Cache Entry After Store with Data Tag Parity Error\" errata, GRLIB-TN-0009" ON)
             option(Coverage "Enables code coverage" OFF)
             set(CMAKE_C_FLAGS_RELEASE "-O2")
-            set(CMAKE_C_FLAGS_DEBUG "-O2 -g -fno-inline")
+            set(CMAKE_C_FLAGS_DEBUG "-O2 -g3 -fno-inline")
             if(fix-b2bst)
                 set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -mfix-b2bst")
                 set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -mfix-b2bst")
             endif()
             set(CMAKE_C_LINK_EXECUTABLE  "<CMAKE_LINKER> <FLAGS> -Xlinker -Map=<TARGET>.map <CMAKE_CXX_LINK_FLAGS> <LINK_FLAGS> <OBJECTS> -o <TARGET> <LINK_LIBRARIES>")
             include_directories("${rtems_dir}/sparc-rtems/leon3/lib/include")
             function (check_b2bst target bin)
                 add_custom_command(TARGET ${target}
                     POST_BUILD
                     COMMAND  ${rtems_dir}/bin/sparc-rtems-objdump -d ${bin}/${target} | ${CMAKE_SOURCE_DIR}/sparc/leon3ft-b2bst-scan.tcl
                     )
             endfunction()
             function (build_srec target bin rev)
                 add_custom_command(TARGET ${target}
                     POST_BUILD
                     COMMAND ${rtems_dir}/bin/sparc-rtems-objcopy -j .data -F srec ${bin}/${target} RpwLfrApp_XXXX_data_rev-${rev}.srec && ${rtems_dir}/bin/sparc-rtems-objcopy -j .text -F srec ${bin}/${target} RpwLfrApp_XXXX_text_rev-${rev}.srec
                     )
             endfunction()

src/CMakeLists.txt +58 -52

-            cmake_minimum_required (VERSION 3.6)
+            cmake_minimum_required (VERSION 3.5)
             project (fsw)
             include(sparc-rtems)
             include(cppcheck)
             include_directories("../header"
-            	 "../header/lfr_common_headers"
+                "../header/lfr_common_headers"
-            	 "../header/processing"
+                "../header/processing"
-                     "../LFR_basic-parameters"
+                "../LFR_basic-parameters"
-                     "../src")
+                "../src")
             set(SOURCES    wf_handler.c
-                 tc_handler.c
+                tc_handler.c
-                 fsw_misc.c
+                fsw_misc.c
-                 fsw_init.c
+                fsw_init.c
-                 fsw_globals.c
+                fsw_globals.c
-                 fsw_spacewire.c
+                fsw_spacewire.c
-                 tc_load_dump_parameters.c
+                tc_load_dump_parameters.c
-                 tm_lfr_tc_exe.c
+                tm_lfr_tc_exe.c
-                 tc_acceptance.c
+                tc_acceptance.c
-                 processing/fsw_processing.c
+                processing/fsw_processing.c
-                 processing/avf0_prc0.c
+                processing/avf0_prc0.c
-                 processing/avf1_prc1.c
+                processing/avf1_prc1.c
-                 processing/avf2_prc2.c
+                processing/avf2_prc2.c
-                 lfr_cpu_usage_report.c
+                lfr_cpu_usage_report.c
-                 ${LFR_BP_SRC}
+                ${LFR_BP_SRC}
-                 ../header/wf_handler.h
+                ../header/wf_handler.h
-                 ../header/tc_handler.h
+                ../header/tc_handler.h
-                 ../header/grlib_regs.h
+                ../header/grlib_regs.h
-                 ../header/fsw_misc.h
+                ../header/fsw_misc.h
-                 ../header/fsw_init.h
+                ../header/fsw_init.h
-                 ../header/fsw_spacewire.h
+                ../header/fsw_spacewire.h
-                 ../header/tc_load_dump_parameters.h
+                ../header/tc_load_dump_parameters.h
-                 ../header/tm_lfr_tc_exe.h
+                ../header/tm_lfr_tc_exe.h
-                 ../header/tc_acceptance.h
+                ../header/tc_acceptance.h
-                 ../header/processing/fsw_processing.h
+                ../header/processing/fsw_processing.h
-                 ../header/processing/avf0_prc0.h
+                ../header/processing/avf0_prc0.h
-                 ../header/processing/avf1_prc1.h
+                ../header/processing/avf1_prc1.h
-                 ../header/processing/avf2_prc2.h
+                ../header/processing/avf2_prc2.h
-                 ../header/fsw_params_wf_handler.h
+                ../header/fsw_params_wf_handler.h
-                 ../header/lfr_cpu_usage_report.h
+                ../header/lfr_cpu_usage_report.h
-                 ../header/lfr_common_headers/ccsds_types.h
+                ../header/lfr_common_headers/ccsds_types.h
-                 ../header/lfr_common_headers/fsw_params.h
+                ../header/lfr_common_headers/fsw_params.h
-                 ../header/lfr_common_headers/fsw_params_nb_bytes.h
+                ../header/lfr_common_headers/fsw_params_nb_bytes.h
-                 ../header/lfr_common_headers/fsw_params_processing.h
+                ../header/lfr_common_headers/fsw_params_processing.h
-                 ../header/lfr_common_headers/tm_byte_positions.h
+                ../header/lfr_common_headers/tm_byte_positions.h
-                 ../LFR_basic-parameters/basic_parameters.h
+                ../LFR_basic-parameters/basic_parameters.h
-                 ../LFR_basic-parameters/basic_parameters_params.h
+                ../LFR_basic-parameters/basic_parameters_params.h
-                 ../header/GscMemoryLPP.hpp
+                ../header/GscMemoryLPP.hpp
+                )
             option(FSW_verbose "Enable verbose LFR" OFF)
             option(FSW_boot_messages "Enable LFR boot messages" OFF)
             option(FSW_debug_messages "Enable LFR debug messages" OFF)
             option(FSW_cpu_usage_report "Enable LFR cpu usage report" OFF)
             option(FSW_stack_report "Enable LFR stack report" OFF)
             option(FSW_vhdl_dev "?" OFF)
             option(FSW_lpp_dpu_destid "Set to debug at LPP" OFF)
             option(FSW_debug_watchdog "Enable debug watchdog" OFF)
             option(FSW_debug_tch "?" OFF)
             option(FSW_Instrument_Scrubbing "Enable scrubbing counter" OFF)
+            option(FSW_Enable_Dead_Code "Enable dead code compilation, this is used to hide by default unused code." OFF)
             set(SW_VERSION_N1 "3" CACHE STRING  "Choose N1 FSW Version." FORCE)
             set(SW_VERSION_N2 "2" CACHE STRING  "Choose N2 FSW Version." FORCE)
             set(SW_VERSION_N3 "0" CACHE STRING  "Choose N3 FSW Version." FORCE)
             set(SW_VERSION_N4 "22" CACHE STRING  "Choose N4 FSW Version." FORCE)
             if(FSW_verbose)
-            	add_definitions(-DPRINT_MESSAGES_ON_CONSOLE)
+                add_definitions(-DPRINT_MESSAGES_ON_CONSOLE)
             endif()
             if(FSW_boot_messages)
-            	add_definitions(-DBOOT_MESSAGES)
+                add_definitions(-DBOOT_MESSAGES)
             endif()
             if(FSW_debug_messages)
-            	add_definitions(-DDEBUG_MESSAGES)
+                add_definitions(-DDEBUG_MESSAGES)
             endif()
             if(FSW_cpu_usage_report)
-            	add_definitions(-DPRINT_TASK_STATISTICS)
+                add_definitions(-DPRINT_TASK_STATISTICS)
             endif()
             if(FSW_stack_report)
-            	add_definitions(-DPRINT_STACK_REPORT)
+                add_definitions(-DPRINT_STACK_REPORT)
             endif()
             if(FSW_vhdl_dev)
-            	add_definitions(-DVHDL_DEV)
+                add_definitions(-DVHDL_DEV)
             endif()
             if(FSW_lpp_dpu_destid)
-            	add_definitions(-DLPP_DPU_DESTID)
+                add_definitions(-DLPP_DPU_DESTID)
             endif()
             if(FSW_debug_watchdog)
-            	add_definitions(-DDEBUG_WATCHDOG)
+                add_definitions(-DDEBUG_WATCHDOG)
             endif()
             if(FSW_debug_tch)
-            	add_definitions(-DDEBUG_TCH)
+                add_definitions(-DDEBUG_TCH)
             endif()
+            if(FSW_Enable_Dead_Code)
+                add_definitions(-DENABLE_DEAD_CODE)
+            endif()
             add_definitions(-DMSB_FIRST_TCH)
             add_definitions(-DSWVERSION=-1-0)
             add_definitions(-DSW_VERSION_N1=${SW_VERSION_N1})
             add_definitions(-DSW_VERSION_N2=${SW_VERSION_N2})
             add_definitions(-DSW_VERSION_N3=${SW_VERSION_N3})
             add_definitions(-DSW_VERSION_N4=${SW_VERSION_N4})
             add_executable(fsw ${SOURCES})
             if(FSW_Instrument_Scrubbing)
                 add_definitions(-DENABLE_SCRUBBING_COUNTER)
             endif()
             if(Coverage)
                 target_link_libraries(fsw gcov)
                 SET_TARGET_PROPERTIES(fsw PROPERTIES COMPILE_FLAGS  "-fprofile-arcs -ftest-coverage")
             endif()
             if(fix-b2bst)
                 check_b2bst(fsw ${CMAKE_CURRENT_BINARY_DIR})
             endif()
             if(NOT FSW_lpp_dpu_destid)
                 build_srec(fsw ${CMAKE_CURRENT_BINARY_DIR} "${SW_VERSION_N1}-${SW_VERSION_N2}-${SW_VERSION_N3}-${SW_VERSION_N4}")
             endif()
             #add_test_cppcheck(fsw STYLE UNUSED_FUNCTIONS POSSIBLE_ERROR MISSING_INCLUDE)

src/fsw_misc.c +2 0

             /*------------------------------------------------------------------------------
             --  Solar Orbiter's Low Frequency Receiver Flight Software (LFR FSW),
             --  This file is a part of the LFR FSW
             --  Copyright (C) 2012-2018, Plasma Physics Laboratory - CNRS
             --
             --  This program is free software; you can redistribute it and/or modify
             --  it under the terms of the GNU General Public License as published by
             --  the Free Software Foundation; either version 2 of the License, or
             --  (at your option) any later version.
             --
             --  This program is distributed in the hope that it will be useful,
             --  but WITHOUT ANY WARRANTY; without even the implied warranty of
             --  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
             --  GNU General Public License for more details.
             --
             --  You should have received a copy of the GNU General Public License
             --  along with this program; if not, write to the Free Software
             --  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
             -------------------------------------------------------------------------------*/
             /*--                  Author : Paul Leroy
             --                   Contact : Alexis Jeandet
             --                      Mail : alexis.jeandet@lpp.polytechnique.fr
             ----------------------------------------------------------------------------*/
             /** General usage functions and RTEMS tasks.
              *
              * @file
              * @author P. LEROY
              *
              */
             #include "fsw_misc.h"
             int16_t hk_lfr_sc_v_f3_as_int16 = 0;
             int16_t hk_lfr_sc_e1_f3_as_int16 = 0;
             int16_t hk_lfr_sc_e2_f3_as_int16 = 0;
             void timer_configure(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;
                 old_isr_handler = NULL;
                 gptimer_regs->timer[timer].ctrl = INIT_CHAR;  // 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( timer, clock_divider);
             }
+            #ifdef ENABLE_DEAD_CODE
             void timer_start(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 | GPTIMER_CLEAR_IRQ;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_LD;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_EN;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_RS;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_IE;
             }
+            #endif
             void timer_stop(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 & GPTIMER_EN_MASK;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl & GPTIMER_IE_MASK;
                 gptimer_regs->timer[timer].ctrl = gptimer_regs->timer[timer].ctrl | GPTIMER_CLEAR_IRQ;
             }
             void timer_set_clock_divider(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
             }
             // WATCHDOG, this ISR should never be triggered.
             rtems_isr watchdog_isr( rtems_vector_number vector )
             {
                 rtems_status_code status_code;
                 status_code = rtems_event_send( Task_id[TASKID_DUMB], RTEMS_EVENT_12 );
                 PRINTF("watchdog_isr *** this is the end, exit(0)\n");
                 exit(0);
             }
             void watchdog_configure(void)
             {
                 /** This function configure the watchdog.
                  *
                  * @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).
                  *
                  * The watchdog is a timer provided by the GPTIMER IP core of the GRLIB.
                  *
                  */
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );    // mask gptimer/watchdog interrupt during configuration
                 timer_configure( TIMER_WATCHDOG, CLKDIV_WATCHDOG, IRQ_SPARC_GPTIMER_WATCHDOG, watchdog_isr );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );   // clear gptimer/watchdog interrupt
             }
             void watchdog_stop(void)
             {
                 LEON_Mask_interrupt( IRQ_GPTIMER_WATCHDOG );                  // mask gptimer/watchdog interrupt line
                 timer_stop( TIMER_WATCHDOG );
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );                 // clear gptimer/watchdog interrupt
             }
             void watchdog_reload(void)
             {
                 /** This function reloads the watchdog timer counter with the timer reload value.
                  *
                  * @param void
                  *
                  * @return void
                  *
                  */
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
             }
             void watchdog_start(void)
             {
                 /** This function starts the watchdog 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).
                  *
                  */
                 LEON_Clear_interrupt( IRQ_GPTIMER_WATCHDOG );
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_CLEAR_IRQ;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_LD;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_EN;
                 gptimer_regs->timer[TIMER_WATCHDOG].ctrl = gptimer_regs->timer[TIMER_WATCHDOG].ctrl | GPTIMER_IE;
                 LEON_Unmask_interrupt( IRQ_GPTIMER_WATCHDOG );
             }
             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_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)
             }
             /**
              * @brief load_task starts and keeps the watchdog alive.
              * @param argument
              * @return
              */
             rtems_task load_task(rtems_task_argument argument)
             {
                 BOOT_PRINTF("in LOAD *** \n")
                 rtems_status_code status;
                 unsigned int i;
                 unsigned int j;
                 rtems_name name_watchdog_rate_monotonic;  // name of the watchdog rate monotonic
                 rtems_id watchdog_period_id;              // id of the watchdog rate monotonic period
                 watchdog_period_id = RTEMS_ID_NONE;
                 name_watchdog_rate_monotonic = rtems_build_name( 'L', 'O', 'A', 'D' );
                 status = rtems_rate_monotonic_create( name_watchdog_rate_monotonic, &watchdog_period_id );
                 if( status != RTEMS_SUCCESSFUL ) {
                     PRINTF1( "in LOAD *** rtems_rate_monotonic_create failed with status of %d\n", status )
                 }
                 i = 0;
                 j = 0;
                 watchdog_configure();
                 watchdog_start();
                 set_sy_lfr_watchdog_enabled( true );
                 while(1){
                     status = rtems_rate_monotonic_period( watchdog_period_id, WATCHDOG_PERIOD );
                     watchdog_reload();
                     i = i + 1;
                     if ( i == WATCHDOG_LOOP_PRINTF )
                     {
                         i = 0;
                         j = j + 1;
                         PRINTF1("%d\n", j)
                     }
             #ifdef DEBUG_WATCHDOG
                     if (j == WATCHDOG_LOOP_DEBUG )
                     {
                         status = rtems_task_delete(RTEMS_SELF);
                     }
             #endif
                 }
             }
             /**
              * @brief hous_task produces and sends HK each seconds
              * @param argument
              * @return
              */
             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;
                 bool isSynchronized;
                 queue_id = RTEMS_ID_NONE;
                 memset(&period_status, 0, sizeof(rtems_rate_monotonic_period_status));
                 isSynchronized = false;
                 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 );
                 }