<font size=2 face="sans-serif">Hello everyone.</font>
<br>
<br><font size=2 face="sans-serif">Executive summary of this (caveat: long!)
bug report: I have built a sparc/rtems-4.11 toolchain and used it
to successfully create and execute applications on the board... but ONLY
with "-msoft-float" - using "-mhard-float" leads to
a NULL pointer access during startup, and a segfault.</font>
<br>
<br><font size=2 face="sans-serif">How to reproduce:</font>
<br>
<br><font size=2 face="sans-serif">1. Use the RSB to build the toolchain:</font>
<br>
<br><font size=2 face="sans-serif"> $ git clone git://git.rtems.org/rtems-source-builder.git</font>
<br><font size=2 face="sans-serif"> $ cd rtems-source-builder</font>
<br><font size=2 face="sans-serif"> $ git checkout 4.11</font>
<br><font size=2 face="sans-serif"> $ sudo apt-get build-dep
binutils gcc g++ gdb unzip git python2.7-dev</font>
<br><font size=2 face="sans-serif"> ...</font>
<br><font size=2 face="sans-serif"> $ ./source-builder/sb-check</font>
<br><font size=2 face="sans-serif"> RTEMS Source Builder -
Check, 4.11 (436ec884a86c)</font>
<br><font size=2 face="sans-serif"> Environment is ok</font>
<br>
<br><font size=2 face="sans-serif"> $ cd rtems</font>
<br><font size=2 face="sans-serif"> $ ../source-builder/sb-set-builder
--log=sparc.log --prefix=/opt/rtems-4.11-latest/ 4.11/rtems-sparc</font>
<br>
<br><font size=2 face="sans-serif">The build completes fine.</font>
<br>
<br><font size=2 face="sans-serif">2. Add new toolchain to path and verify
it's there:</font>
<br>
<br><font size=2 face="sans-serif"> $ export PATH=/opt/rtems-4.11-latest/bin:$PATH</font>
<br><font size=2 face="sans-serif"> $ sparc-rtems4.11-gcc
-v</font>
<br><font size=2 face="sans-serif"> Using built-in specs.</font>
<br><font size=2 face="sans-serif"> COLLECT_GCC=sparc-rtems4.11-gcc</font>
<br><font size=2 face="sans-serif"> COLLECT_LTO_WRAPPER=/opt/rtems-4.11-latest/libexec/gcc/sparc-rtems4.11/4.9.3/lto-wrapper</font>
<br><font size=2 face="sans-serif"> Target: sparc-rtems4.11</font>
<br><font size=2 face="sans-serif"> Configured with: ../gcc-4.9.3/configure
--prefix=/opt/rtems-4.11-latest --bindir=/opt/rtems-4.11-latest/bin --exec_prefix=/opt/rtems-4.11-latest
--includedir=/opt/rtems-4.11-latest/include --libdir=/opt/rtems-4.11-latest/lib
--libexecdir=/opt/rtems-4.11-latest/libexec --mandir=/opt/rtems-4.11-latest/share/man
--infodir=/opt/rtems-4.11-latest/share/info --datadir=/opt/rtems-4.11-latest/share
--build=i686-linux-gnu --host=i686-linux-gnu --target=sparc-rtems4.11 --disable-libstdcxx-pch
--with-gnu-as --with-gnu-ld --verbose --with-newlib --with-system-zlib
--disable-nls --without-included-gettext --disable-win32-registry --enable-version-specific-runtime-libs
--disable-lto --enable-newlib-io-c99-formats --enable-newlib-iconv --enable-newlib-iconv-encodings=big5,cp775,cp850,cp852,cp855,cp866,euc_jp,euc_kr,euc_tw,iso_8859_1,iso_8859_10,iso_8859_11,iso_8859_13,iso_8859_14,iso_8859_15,iso_8859_2,iso_8859_3,iso_8859_4,iso_8859_5,iso_8859_6,iso_8859_7,iso_8859_8,iso_8859_9,iso_ir_111,koi8_r,koi8_ru,koi8_u,koi8_uni,ucs_2,ucs_2_internal,ucs_2be,ucs_2le,ucs_4,ucs_4_internal,ucs_4be,ucs_4le,us_ascii,utf_16,utf_16be,utf_16le,utf_8,win_1250,win_1251,win_1252,win_1253,win_1254,win_1255,win_1256,win_1257,win_1258
--enable-threads --disable-plugin --enable-libgomp --enable-languages=c,c++</font>
<br><font size=2 face="sans-serif"> Thread model: rtems</font>
<br><font size=2 face="sans-serif"> gcc version 4.9.3 20150626
(RTEMS 4.11, RSB 436ec884a86c32166a538e5190e13ae088169533-modified, Newlib
2.2.0.20150423) (GCC)</font>
<br>
<br><font size=2 face="sans-serif">3. Compile latest RTEMS 4.11 sources</font>
<br>
<br><font size=2 face="sans-serif"> $ cd ..</font>
<br><font size=2 face="sans-serif"> $ git clone </font><a href=https://github.com/RTEMS/rtems.git><font size=2 color=blue face="sans-serif">https://github.com/RTEMS/rtems.git</font></a>
<br><font size=2 face="sans-serif"> $ cd rtems</font>
<br><font size=2 face="sans-serif"> $ git checkout 4.11</font>
<br><font size=2 face="sans-serif"> $ cd ../</font>
<br><font size=2 face="sans-serif"> $ mkdir build</font>
<br><font size=2 face="sans-serif"> $ cd build</font>
<br><font size=2 face="sans-serif"> $ ../rtems-git/configure
--target=sparc-rtems4.11 --disable-networking --enable-rtemsbsp="leon3"
--prefix=/opt/rtems-4.11-latest --enable-tests</font>
<br><font size=2 face="sans-serif"> $ make all</font>
<br><font size=2 face="sans-serif"> $ make install</font>
<br>
<br><font size=2 face="sans-serif">This build also completes fine</font>
<br>
<br><font size=2 face="sans-serif">4. Test the samples, which have been
compiled with -msoft-float - they execute perfectly on board:</font>
<br>
<br><font size=2 face="sans-serif"> $ cd sparc-rtems4.11/c/leon3/testsuites/samples/hello</font>
<br><font size=2 face="sans-serif"> $ sparc-rtems-gdb ./hello.exe</font>
<br><font size=2 face="sans-serif"> (gdb) tar extended-remote
....:1234 (connect to grmon)</font>
<br><font size=2 face="sans-serif"> (gdb) c</font>
<br><font size=2 face="sans-serif"> Continuing.</font>
<br>
<br><font size=2 face="sans-serif"> *** BEGIN OF TEST HELLO
WORLD ***</font>
<br><font size=2 face="sans-serif"> Hello World</font>
<br><font size=2 face="sans-serif"> *** END OF TEST HELLO
WORLD ***</font>
<br>
<br><font size=2 face="sans-serif">5. Now compile hello world again, but
changing "-msoft-float" to "-mhard-float":</font>
<br>
<br><font size=2 face="sans-serif"> $ make clean</font>
<br><font size=2 face="sans-serif"> $ cat Makefile | sed 's/soft-float/hard-float/'
> a && mv a Makefile</font>
<br><font size=2 face="sans-serif"> $ grep float Makefile</font>
<br><font size=2 face="sans-serif"> CFLAGS = -mcpu=cypress
-mhard-float -O2 -g -ffunction-sections -fdata-sections -Wall -Wmissing-prototypes
-Wimplicit-function-declaration -Wstrict-prototypes -Wnested-externs</font>
<br><font size=2 face="sans-serif"> CXXFLAGS = -mcpu=cypress
-mhard-float -O2 -g -ffunction-sections -fdata-sections -Wall -Wmissing-prototypes
-Wimplicit-function-declaration -Wstrict-prototypes -Wnested-externs</font>
<br>
<br><font size=2 face="sans-serif"> $ make</font>
<br><font size=2 face="sans-serif"> $ sparc-rtems-gdb ./hello.exe</font>
<br><font size=2 face="sans-serif"> (gdb) tar extended-remote
....:1234 (connect to grmon)</font>
<br><font size=2 face="sans-serif"> (gdb) c</font>
<br><font size=2 face="sans-serif"> Continuing.</font>
<br>
<br><font size=2 face="sans-serif"> Program received signal
SIGSEGV, Segmentation fault.</font>
<br><font size=2 face="sans-serif"> 0x40003634 in newlib_create_hook
(current_task=0x400204d0, creating_task=0x40020a48)</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/libcsupport/src/newlibc_reent.c:47</font>
<br><font size=2 face="sans-serif"> 47
_REENT_INIT_PTR((creating_task->libc_reent)); /* GCC extension:
structure constants */</font>
<br><font size=2 face="sans-serif"> (gdb) where</font>
<br><font size=2 face="sans-serif"> #0 0x40003634 in
newlib_create_hook (current_task=0x400204d0, creating_task=0x40020a48)</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/libcsupport/src/newlibc_reent.c:47</font>
<br><font size=2 face="sans-serif"> #1 0x4000c7ec in
_User_extensions_Thread_create_visitor (executing=0x400204d0, arg=0x407ffd70,</font>
<br><font size=2 face="sans-serif"> callouts=0x4001b164
<Configuration_Initial_Extensions>)</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/score/src/userextiterate.c:43</font>
<br><font size=2 face="sans-serif"> #2 0x4000c93c in
_User_extensions_Iterate (arg=arg@entry=0x407ffd70,</font>
<br><font size=2 face="sans-serif"> visitor=0x4000c7b4
<_User_extensions_Thread_create_visitor>)</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/score/src/userextiterate.c:155</font>
<br><font size=2 face="sans-serif"> #3 0x4000b954 in
_User_extensions_Thread_create (created=0x40020a48)</font>
<br><font size=2 face="sans-serif"> at ../../cpukit/../../../leon3/lib/include/rtems/score/userextimpl.h:174</font>
<br><font size=2 face="sans-serif"> #4 _Thread_Initialize
(information=0x4001db04 <_RTEMS_tasks_Information>, the_thread=the_thread@entry=0x40020a48,</font>
<br><font size=2 face="sans-serif"> scheduler=0x4001b1d8
<_Scheduler_Table>, stack_area=stack_area@entry=0x0, stack_size=stack_size@entry=4096,</font>
<br><font size=2 face="sans-serif"> is_fp=is_fp@entry=false,
priority=priority@entry=1, is_preemptible=is_preemptible@entry=false,</font>
<br><font size=2 face="sans-serif"> budget_algorithm=budget_algorithm@entry=THREAD_CPU_BUDGET_ALGORITHM_NONE,
budget_callout=budget_callout@entry=0x0,</font>
<br><font size=2 face="sans-serif"> isr_level=isr_level@entry=0,
name=...)</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/score/src/threadinitialize.c:251</font>
<br><font size=2 face="sans-serif"> #5 0x40007c6c in
rtems_task_create (name=1430860064, initial_priority=1, stack_size=4096,
initial_modes=256,</font>
<br><font size=2 face="sans-serif"> attribute_set=0,
id=id@entry=0x407ffe5c) at ../../../../../../rtems-git/c/src/../../cpukit/rtems/src/taskcreate.c:141</font>
<br><font size=2 face="sans-serif"> #6 0x40007dc8 in
_RTEMS_tasks_Initialize_user_tasks_body ()</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/rtems/src/taskinitusers.c:72</font>
<br><font size=2 face="sans-serif"> #7 0x4000e72c in
_RTEMS_tasks_Initialize_user_tasks ()</font>
<br><font size=2 face="sans-serif"> at ../../../../../../rtems-git/c/src/../../cpukit/rtems/src/tasks.c:247</font>
<br><font size=2 face="sans-serif"> #8 0x400084e0 in
_API_extensions_Run_postdriver () at ../../../../../../rtems-git/c/src/../../cpukit/score/src/apiext.c:73</font>
<br><font size=2 face="sans-serif"> #9 0x40001318 in
boot_card (cmdline=0x0)</font>
<br><font size=2 face="sans-serif"> at ../../../../../../../../rtems-git/c/src/lib/libbsp/sparc/leon3/../../shared/bootcard.c:140</font>
<br><font size=2 face="sans-serif"> #10 0x400010c8 in zerobss
()</font>
<br><font size=2 face="sans-serif"> at ../../../../../../../../rtems-git/c/src/lib/libbsp/sparc/leon3/../../sparc/shared/start/start.S:404</font>
<br>
<br><font size=2 face="sans-serif">Note that this process is using official
sources for everything - nothing is customized in any way.</font>
<br><font size=2 face="sans-serif">Which means the hello world sample is
as-is, and doesn't use any floating point code - the crash happens in initialization
of a thread that is created without FPU support (is_fp=false).</font>
<br>
<br><font size=2 face="sans-serif">So I change the hello world sample to
this:</font>
<br>
<br><font size=2 face="sans-serif"> $ git diff </font>
<br><font size=2 face="sans-serif"> diff --git a/testsuites/samples/hello/init.c
b/testsuites/samples/hello/init.c</font>
<br><font size=2 face="sans-serif"> index d8fe450..0e6f34d
100644</font>
<br><font size=2 face="sans-serif"> --- a/testsuites/samples/hello/init.c</font>
<br><font size=2 face="sans-serif"> +++ b/testsuites/samples/hello/init.c</font>
<br><font size=2 face="sans-serif"> @@ -46,4 +46,5 @@ rtems_task
Init(</font>
<br><font size=2 face="sans-serif"> #define CONFIGURE_INITIAL_EXTENSIONS
RTEMS_TEST_INITIAL_EXTENSION</font>
<br>
<br><font size=2 face="sans-serif"> #define CONFIGURE_INIT</font>
<br><font size=2 face="sans-serif"> +#define CONFIGURE_INIT_TASK_ATTRIBUTES
RTEMS_FLOATING_POINT</font>
<br><font size=2 face="sans-serif"> #include <rtems/confdefs.h></font>
<br>
<br><font size=2 face="sans-serif">...and rebuild. I get the same crash,
even though "is_fp" is set to true this time.</font>
<br>
<br><font size=2 face="sans-serif">In case it helps, the top-most frame
on the stack accesses "creating_task->libc_reent" - here's
the relevant data from the debugger:</font>
<br>
<br><font size=2 face="sans-serif"> (gdb) p creating_task</font>
<br><font size=2 face="sans-serif"> $1 = (rtems_tcb *) 0x40020a48</font>
<br>
<br><font size=2 face="sans-serif"> (gdb) p *creating_task</font>
<br><font size=2 face="sans-serif"> $2 = {Object = {Node =
{next = 0x4001db28 <_RTEMS_tasks_Information+36>,</font>
<br><font size=2 face="sans-serif"> previous
= 0x4001db24 <_RTEMS_tasks_Information+32>}, id = 167837697, name
= {</font>
<br><font size=2 face="sans-serif"> name_p
= 0x55493120 "DI6\210\rA.]\301\017\240w_\243\217\336\065 \306\031\071\224\027\217\231\r\306\022\033\207\307`\"\022#aN\250\323)\177\372k0,\311\323!\005\263P\306\025\325M\020\323\071:\244\225\262\256\065\362\312<\200\346\227Z\t\331\034T\376\033\321\211\066#\345",
name_u32 = 1430860064}}, current_state = 1, current_priority = 1, real_priority
= 1,</font>
<br><font size=2 face="sans-serif"> priority_generation
= 0, priority_restore_hint = 196, resource_count = 0, Wait = {Node = {Chain
= {next = 0x80a0a000,</font>
<br><font size=2 face="sans-serif">
previous = 0x280011d}, RBTree = {parent = 0x80a0a000, child = {0x280011d,
0xb626c003},</font>
<br><font size=2 face="sans-serif">
color = (unknown: 3322396332)}}, id = 2248204289, count = 3324493484, return_argument
= 0x88100002,</font>
<br><font size=2 face="sans-serif"> return_argument_second
= {mutable_object = 0x0, immutable_object = 0x0}, option = 2158026879,
return_code = 0,</font>
<br><font size=2 face="sans-serif"> timeout_code
= 0, queue = 0x0, flags = 0, operations = 0x4001b7e8 <_Thread_queue_Operations_default>},
Timer = {</font>
<br><font size=2 face="sans-serif"> Node = {next
= 0x0, previous = 0xc227be6c}, state = WATCHDOG_INACTIVE, initial = 3020947468,</font>
<br><font size=2 face="sans-serif"> delta_interval
= 3054501901, start_time = 1073749935, stop_time = 3523722900, routine
= 0xc207be6c, id = 17,</font>
<br><font size=2 face="sans-serif"> user_data
= 0x40020bc8}, is_preemptible = 133, is_fp = true, Scheduler = {node =
0x40020bd8}, cpu_time_budget = 0,</font>
<br><font size=2 face="sans-serif"> budget_algorithm
= 2156454143, budget_callout = 0x0, cpu_time_used = {sec = 0, frac = 0},
Start = {entry_point = 0x0,</font>
<br><font size=2 face="sans-serif"> prototype
= (unknown: 1073862712), pointer_argument = 0x27beac, numeric_argument
= 0, is_preemptible = false,</font>
<br><font size=2 face="sans-serif"> budget_algorithm
= THREAD_CPU_BUDGET_ALGORITHM_NONE, budget_callout = 0x0, isr_level = 0,
initial_priority = 1,</font>
<br><font size=2 face="sans-serif"> core_allocated_stack
= true, Initial_stack = {size = 4096, area = 0x400221c8}, stack = 0x400221c8,
tls_area = 0x0},</font>
<br><font size=2 face="sans-serif"> Post_switch_actions
= {Chain = {Head = {Node = {next = 0x40020b34, previous = 0x0}, fill =
0x40020b30}, Tail = {</font>
<br><font size=2 face="sans-serif">
fill = 0x40020b34, Node = {next = 0x0, previous = 0x40020b30}}}}, Registers
= {g5 = 3324485712, g7 = 3355950796,</font>
<br><font size=2 face="sans-serif"> l0_and_l1
= 5.2719010775364644e-228, l2 = 2248302600, l3 = 2416426792, l4 = 2484084744,
l5 = 3324485712,</font>
<br><font size=2 face="sans-serif"> l6 = 2147475822,
l7 = 3995582060, i0 = 3355950888, i1 = 3288842028, i2 = 3358047904, i3
= 3290939036, i4 = 0,</font>
<br><font size=2 face="sans-serif"> i5 = 3255287404,
i6_fp = 1073885520, i7 = 1073804840, o6_sp = 4081066214, o7 = 0, psr =
1073876192,</font>
<br><font size=2 face="sans-serif"> isr_dispatch_disable
= 1073875928}, libc_reent = 0x40020c04, API_Extensions = {0x40020cf0, 0x40020be8},</font>
<br><font size=2 face="sans-serif"> task_variables
= 0x40020c14, Key_Chain = {Head = {Node = {next = 0x40020bac, previous
= 0x0}, fill = 0x40020ba8},</font>
<br><font size=2 face="sans-serif"> Tail = {fill
= 0x40020bac, Node = {next = 0x0, previous = 0x40020ba8}}}, Life = {Action
= {Node = {next = 0x0,</font>
<br><font size=2 face="sans-serif">
previous = 0x0}, handler = 0x4000c248 <_Thread_Life_action_handler>},
state = THREAD_LIFE_NORMAL,</font>
<br><font size=2 face="sans-serif"> terminator
= 0x0}, Capture = {flags = 0, control = 0x0}, extensions = 0x40020bd0}</font>
<br>
<br><font size=2 face="sans-serif"> (gdb) p creating_task->libc_reent</font>
<br><font size=2 face="sans-serif"> $3 = (struct _reent *)
0x40020c04</font>
<br>
<br><font size=2 face="sans-serif"> (gdb) p *creating_task->libc_reent</font>
<br><font size=2 face="sans-serif"> $4 = {_errno = 0, _stdin
= 0x0, _stdout = 0x0, _stderr = 0x0, _inc = 0, _emergency = '\000' <repeats
24 times>,</font>
<br><font size=2 face="sans-serif"> _current_category
= 0, _current_locale = 0x0, __sdidinit = 0, __cleanup = 0x0, _result =
0x0, _result_k = 0, _p5s = 0x0,</font>
<br><font size=2 face="sans-serif"> _freelist = 0x0,
_cvtlen = 0, _cvtbuf = 0x0, _new = {_reent = {_unused_rand = 0, _strtok_last
= 0x0,</font>
<br><font size=2 face="sans-serif"> _asctime_buf
= '\000' <repeats 25 times>, _localtime_buf = {__tm_sec = 0, __tm_min
= 0, __tm_hour = 0,</font>
<br><font size=2 face="sans-serif">
__tm_mday = 0, __tm_mon = 0, __tm_year = 0, __tm_wday = 0, __tm_yday =
0, __tm_isdst = 0}, _gamma_signgam = 0,</font>
<br><font size=2 face="sans-serif"> _rand_next
= 0, _r48 = {_seed = {0, 0, 0}, _mult = {0, 0, 0}, _add = 0}, _mblen_state
= {__count = 0, __value = {</font>
<br><font size=2 face="sans-serif">
__wch = 0, __wchb = "\000\000\000"}}, _mbtowc_state =
{__count = 0, __value = {__wch = 0,</font>
<br><font size=2 face="sans-serif">
__wchb = "\000\000\000"}}, _wctomb_state = {__count =
0, __value = {__wch = 0, __wchb = "\000\000\000"}},</font>
<br><font size=2 face="sans-serif"> _l64a_buf
= "\000\000\000\000\000\000\000", _signal_buf = '\000' <repeats
23 times>, _getdate_err = 0,</font>
<br><font size=2 face="sans-serif"> _mbrlen_state
= {__count = 0, __value = {__wch = 0, __wchb = "\000\000\000"}},
_mbrtowc_state = {__count = 0,</font>
<br><font size=2 face="sans-serif">
__value = {__wch = 0, __wchb = "\000\000\000"}}, _mbsrtowcs_state
= {__count = 0, __value = {__wch = 0,</font>
<br><font size=2 face="sans-serif">
__wchb = "\000\000\000"}}, _wcrtomb_state = {__count =
0, __value = {__wch = 0, __wchb = "\000\000\000"}},</font>
<br><font size=2 face="sans-serif"> _wcsrtombs_state
= {__count = 0, __value = {__wch = 0, __wchb = "\000\000\000"}},
_h_errno = 0}, _unused = {</font>
<br><font size=2 face="sans-serif"> _nextf
= {0x0 <repeats 30 times>}, _nmalloc = {0 <repeats 30 times>}}},
_sig_func = 0x0, __sglue = {_next = 0x0,</font>
<br><font size=2 face="sans-serif"> _niobs =
0, _iobs = 0x0}, __sf = {{_p = 0x0, _r = 0, _w = 0, _flags = 0, _file =
0, _bf = {_base = 0x0, _size = 0},</font>
<br><font size=2 face="sans-serif"> _lbfsize
= 0, _cookie = 0x0, _read = 0x0, _write = 0x0, _seek = 0x0, _close = 0x0,
_ub = {_base = 0x0, _size = 0},</font>
<br><font size=2 face="sans-serif"> _up
= 0x0, _ur = 0, _ubuf = "\000\000", _nbuf = "", _lb
= {_base = 0x0, _size = 0}, _blksize = 0, _offset = 0,</font>
<br><font size=2 face="sans-serif"> _data
= 0x0, _lock = 0, _mbstate = {__count = 0, __value = {__wch = 0, __wchb
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<br><font size=2 face="sans-serif">Any help would be most appreciated!</font>
<br>
<br><font size=2 face="sans-serif">Kind regards,</font>
<br><font size=2 face="sans-serif">Thanassis.</font>
<br>
<br>
<br><font size=2 face="sans-serif"><b>European Space Agency (via HE Space)</b></font>
<br><font size=2 color=#000080 face="sans-serif">Thanassis Tsiodras</font>
<br><font size=2 face="sans-serif">Real-time Embedded Software Engineer
</font>
<br><font size=2 face="sans-serif">System, Software and Technology Department</font>
<br>
<br><font size=2 face="sans-serif"><b>ESTEC</b></font>
<br><font size=2 face="sans-serif">Keplerlaan 1, PO Box 299</font>
<br><font size=2 face="sans-serif">NL-2200 AG Noordwijk, The Netherlands</font>
<br><font size=2 face="sans-serif">Athanasios.Tsiodras@esa.int | </font><a href=www.esa.int><font size=2 color=blue face="sans-serif">www.esa.int</font></a>
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