Demo/ColdFire_MCF5282_Eclipse/RTOSDemo/main.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
 	FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.

 	This file is part of the FreeRTOS.org distribution.

 	FreeRTOS.org is free software; you can redistribute it and/or modify it
 	under the terms of the GNU General Public License (version 2) as published
 	by the Free Software Foundation and modified by the FreeRTOS exception.
 	**NOTE** The exception to the GPL is included to allow you to distribute a
 	combined work that includes FreeRTOS.org without being obliged to provide
 	the source code for any proprietary components.  Alternative commercial
 	license and support terms are also available upon request.  See the
 	licensing section of http://www.FreeRTOS.org for full details.

 	FreeRTOS.org 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 FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
 	Temple Place, Suite 330, Boston, MA  02111-1307  USA.


 	***************************************************************************
 	*                                                                         *
 	* Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *
 	*                                                                         *
 	* This is a concise, step by step, 'hands on' guide that describes both   *
 	* general multitasking concepts and FreeRTOS specifics. It presents and   *
 	* explains numerous examples that are written using the FreeRTOS API.     *
 	* Full source code for all the examples is provided in an accompanying    *
 	* .zip file.                                                              *
 	*                                                                         *
 	***************************************************************************

 	1 tab == 4 spaces!

 	Please ensure to read the configuration and relevant port sections of the
 	online documentation.

 	http://www.FreeRTOS.org - Documentation, latest information, license and
 	contact details.

 	http://www.SafeRTOS.com - A version that is certified for use in safety
 	critical systems.

 	http://www.OpenRTOS.com - Commercial support, development, porting,
 	licensing and training services.
 */


 /*
  * Creates all the demo application tasks, then starts the scheduler.  The WEB
  * documentation provides more details of the standard demo application tasks.
  * In addition to the standard demo tasks, the following tasks and tests are
  * defined and/or created within this file:
  *
  * "Check" task -  This only executes every five seconds but has a high priority
  * to ensure it gets processor time.  Its main function is to check that all the
  * standard demo tasks are still operational.  While no errors have been
  * discovered the check task will toggle an LED every 5 seconds - the toggle
  * rate increasing to 500ms being a visual indication that at least one task has
  * reported unexpected behaviour.
  *
  * "Reg test" tasks - These fill the registers with known values, then check
  * that each register still contains its expected value.  Each task uses
  * different values.  The tasks run with very low priority so get preempted very
  * frequently.  A register containing an unexpected value is indicative of an
  * error in the context switching mechanism.
  *
  */

 /* Standard includes. */
 #include <stdio.h>

 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"
 #include "queue.h"
 #include "semphr.h"

 /* Demo app includes. */
 #include "BlockQ.h"
 #include "death.h"
 #include "integer.h"
 #include "flash.h"
 #include "partest.h"
 #include "semtest.h"
 #include "PollQ.h"
 #include "GenQTest.h"
 #include "QPeek.h"
 #include "recmutex.h"
 #include "IntQueue.h"
 #include "comtest2.h"

 /*-----------------------------------------------------------*/

 /* The time between cycles of the 'check' functionality - as described at the
 top of this file. */
 #define mainNO_ERROR_PERIOD					( ( portTickType ) 5000 / portTICK_RATE_MS )

 /* The rate at which the LED controlled by the 'check' task will flash should an
 error have been detected. */
 #define mainERROR_PERIOD 					( ( portTickType ) 500 / portTICK_RATE_MS )

 /* The LED controlled by the 'check' task. */
 #define mainCHECK_LED						( 3 )

 /* ComTest constants - there is no free LED for the comtest tasks. */
 #define mainCOM_TEST_BAUD_RATE				( ( unsigned portLONG ) 19200 )
 #define mainCOM_TEST_LED					( 5 )

 /* Task priorities. */
 #define mainCOM_TEST_PRIORITY				( tskIDLE_PRIORITY + 2 )
 #define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
 #define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
 #define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
 #define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
 #define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )
 #define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
 #define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

 /*
  * Configure the hardware for the demo.
  */
 static void prvSetupHardware( void );

 /*
  * Implements the 'check' task functionality as described at the top of this
  * file.
  */
 static void prvCheckTask( void *pvParameters );

 /*
  * Implement the 'Reg test' functionality as described at the top of this file.
  */
 static void vRegTest1Task( void *pvParameters );
 static void vRegTest2Task( void *pvParameters );

 /*-----------------------------------------------------------*/

 /* Counters used to detect errors within the reg test tasks. */
 static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

 /*-----------------------------------------------------------*/

 int main( void )
 {
 	/* Setup the hardware ready for this demo. */
 	prvSetupHardware();

 	/* Start the standard demo tasks. */
 	vStartLEDFlashTasks( tskIDLE_PRIORITY );
 	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
 	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
 	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
 	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
 	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
 	vStartQueuePeekTasks();
 	vStartRecursiveMutexTasks();
 	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
 	vStartInterruptQueueTasks();

 	/* Start the reg test tasks - defined in this file. */
 	xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
 	xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

 	/* Create the check task. */
 	xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

 	/* The suicide tasks must be created last as they need to know how many
 	tasks were running prior to their creation in order to ascertain whether
 	or not the correct/expected number of tasks are running at any given time. */
     vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

 	/* Start the scheduler. */
 	vTaskStartScheduler();

     /* Will only get here if there was insufficient memory to create the idle
     task. */
 	for( ;; );
 }
 /*-----------------------------------------------------------*/

 static void prvCheckTask( void *pvParameters )
 {
 unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
 portTickType xLastExecutionTime;

 	( void ) pvParameters;

 	/* Initialise the variable used to control our iteration rate prior to
 	its first use. */
 	xLastExecutionTime = xTaskGetTickCount();

 	for( ;; )
 	{
 		/* Wait until it is time to run the tests again. */
 		vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

 		/* Has an error been found in any task? */
 		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
 		{
 			ulError |= 0x01UL;
 		}

 		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
 		{
 			ulError |= 0x02UL;
 		}

 		if( xAreBlockingQueuesStillRunning() != pdTRUE )
 		{
 			ulError |= 0x04UL;
 		}

 		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
 	    {
 	    	ulError |= 0x20UL;
 	    }

 		if( xArePollingQueuesStillRunning() != pdTRUE )
 	    {
 	    	ulError |= 0x40UL;
 	    }

 		if( xIsCreateTaskStillRunning() != pdTRUE )
 	    {
 	    	ulError |= 0x80UL;
 	    }

 		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
 	    {
 	    	ulError |= 0x100UL;
 	    }

 		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
 	    {
 	    	ulError |= 0x200UL;
 	    }

 		if( xAreComTestTasksStillRunning() != pdTRUE )
 		{
 	    	ulError |= 0x400UL;
 		}

 		if( xAreIntQueueTasksStillRunning() != pdTRUE )
 	    {
 	    	ulError |= 0x800UL;
 	    }

 		if( ulLastRegTest1Count == ulRegTest1Counter )
 		{
 			ulError |= 0x1000UL;
 		}

 		if( ulLastRegTest2Count == ulRegTest2Counter )
 		{
 			ulError |= 0x1000UL;
 		}

 		ulLastRegTest1Count = ulRegTest1Counter;
 		ulLastRegTest2Count = ulRegTest2Counter;

 		/* If an error has been found then increase our cycle rate, and in so
 		going increase the rate at which the check task LED toggles. */
 		if( ulError != 0 )
 		{
 	    	ulTicksToWait = mainERROR_PERIOD;
 		}

 		/* Toggle the LED each itteration. */
 		vParTestToggleLED( mainCHECK_LED );
 	}
 }
 /*-----------------------------------------------------------*/

 void prvSetupHardware( void )
 {
 extern void mcf5xxx_wr_cacr( unsigned portLONG );

 	portDISABLE_INTERRUPTS();

 	/* Enable the cache. */
 	mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
 	asm volatile( "NOP" ); /* As per errata. */

 	/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
 	MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );

 	/* Wait for PLL to lock. */
 	while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
 	{
 		__asm__ volatile ( "NOP" );
 	}

 	/* Setup the port used to toggle LEDs. */
 	vParTestInitialise();
 }
 /*-----------------------------------------------------------*/

 void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
 {
 	/* This will get called if a stack overflow is detected during the context
 	switch.  Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
 	problems within nested interrupts, but only do this for debug purposes as
 	it will increase the context switch time. */

 	( void ) pxTask;
 	( void ) pcTaskName;

 	for( ;; );
 }
 /*-----------------------------------------------------------*/

 static void vRegTest1Task( void *pvParameters )
 {
 	/* Sanity check - did we receive the parameter expected? */
 	if( pvParameters != &ulRegTest1Counter )
 	{
 		/* Change here so the check task can detect that an error occurred. */
 		for( ;; );
 	}

 	/* Set all the registers to known values, then check that each retains its
 	expected value - as described at the top of this file.  If an error is
 	found then the loop counter will no longer be incremented allowing the check
 	task to recognise the error. */
 	asm volatile 	(	"reg_test_1_start:						\n\t"
 						"	moveq		#1, %d0					\n\t"
 						"	moveq		#2, %d1					\n\t"
 						"	moveq		#3, %d2					\n\t"
 						"	moveq		#4, %d3					\n\t"
 						"	moveq		#5, %d4					\n\t"
 						"	moveq		#6, %d5					\n\t"
 						"	moveq		#7, %d6					\n\t"
 						"	moveq		#8, %d7					\n\t"
 						"	move		#9, %a0					\n\t"
 						"	move		#10, %a1				\n\t"
 						"	move		#11, %a2				\n\t"
 						"	move		#12, %a3				\n\t"
 						"	move		#13, %a4				\n\t"
 						"	move		#14, %a5				\n\t"
 						"	move		#15, %a6				\n\t"
 						"										\n\t"
 						"	cmpi.l		#1, %d0					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#2, %d1					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#3, %d2					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#4, %d3					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#5, %d4					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#6, %d5					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#7, %d6					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	cmpi.l		#8, %d7					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a0, %d0				\n\t"
 						"	cmpi.l		#9, %d0					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a1, %d0				\n\t"
 						"	cmpi.l		#10, %d0				\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a2, %d0				\n\t"
 						"	cmpi.l		#11, %d0				\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a3, %d0				\n\t"
 						"	cmpi.l		#12, %d0				\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a4, %d0				\n\t"
 						"	cmpi.l		#13, %d0				\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a5, %d0				\n\t"
 						"	cmpi.l		#14, %d0				\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		%a6, %d0				\n\t"
 						"	cmpi.l		#15, %d0				\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	movel		ulRegTest1Counter, %d0	\n\t"
 						"	addql		#1, %d0					\n\t"
 						"	movel		%d0, ulRegTest1Counter	\n\t"
 						"	bra			reg_test_1_start		\n\t"
 						"reg_test_1_error:						\n\t"
 						"	bra			reg_test_1_error		\n\t"
 					);
 }
 /*-----------------------------------------------------------*/

 static void vRegTest2Task( void *pvParameters )
 {
 	/* Sanity check - did we receive the parameter expected? */
 	if( pvParameters != &ulRegTest2Counter )
 	{
 		/* Change here so the check task can detect that an error occurred. */
 		for( ;; );
 	}

 	/* Set all the registers to known values, then check that each retains its
 	expected value - as described at the top of this file.  If an error is
 	found then the loop counter will no longer be incremented allowing the check
 	task to recognise the error. */
 	asm volatile 	(	"reg_test_2_start:						\n\t"
 						"	moveq		#10, %d0				\n\t"
 						"	moveq		#20, %d1				\n\t"
 						"	moveq		#30, %d2				\n\t"
 						"	moveq		#40, %d3				\n\t"
 						"	moveq		#50, %d4				\n\t"
 						"	moveq		#60, %d5				\n\t"
 						"	moveq		#70, %d6				\n\t"
 						"	moveq		#80, %d7				\n\t"
 						"	move		#90, %a0				\n\t"
 						"	move		#100, %a1				\n\t"
 						"	move		#110, %a2				\n\t"
 						"	move		#120, %a3				\n\t"
 						"	move		#130, %a4				\n\t"
 						"	move		#140, %a5				\n\t"
 						"	move		#150, %a6				\n\t"
 						"										\n\t"
 						"	cmpi.l		#10, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#20, %d1				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#30, %d2				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#40, %d3				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#50, %d4				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#60, %d5				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#70, %d6				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	cmpi.l		#80, %d7				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a0, %d0				\n\t"
 						"	cmpi.l		#90, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a1, %d0				\n\t"
 						"	cmpi.l		#100, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a2, %d0				\n\t"
 						"	cmpi.l		#110, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a3, %d0				\n\t"
 						"	cmpi.l		#120, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a4, %d0				\n\t"
 						"	cmpi.l		#130, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a5, %d0				\n\t"
 						"	cmpi.l		#140, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		%a6, %d0				\n\t"
 						"	cmpi.l		#150, %d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	movel		ulRegTest1Counter, %d0	\n\t"
 						"	addql		#1, %d0					\n\t"
 						"	movel		%d0, ulRegTest2Counter	\n\t"
 						"	bra			reg_test_2_start		\n\t"
 						"reg_test_2_error:						\n\t"
 						"	bra			reg_test_2_error		\n\t"
 					);
 }
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS.org V5.3.1 - Copyright (C) 2003-2009 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org is free software; you can redistribute it and/or modify it
	under the terms of the GNU General Public License (version 2) as published
	by the Free Software Foundation and modified by the FreeRTOS exception.
	NOTE The exception to the GPL is included to allow you to distribute a
	combined work that includes FreeRTOS.org without being obliged to provide
	the source code for any proprietary components. Alternative commercial
	license and support terms are also available upon request. See the
	licensing section of http://www.FreeRTOS.org for full details.

	FreeRTOS.org 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 FreeRTOS.org; if not, write to the Free Software Foundation, Inc., 59
	Temple Place, Suite 330, Boston, MA 02111-1307 USA.


	***************************************************************************
	* *
	* Get the FreeRTOS eBook! See http://www.FreeRTOS.org/Documentation *
	* *
	* This is a concise, step by step, 'hands on' guide that describes both *
	* general multitasking concepts and FreeRTOS specifics. It presents and *
	* explains numerous examples that are written using the FreeRTOS API. *
	* Full source code for all the examples is provided in an accompanying *
	* .zip file. *
	* *
	***************************************************************************

	1 tab == 4 spaces!

	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety
	critical systems.

	http://www.OpenRTOS.com - Commercial support, development, porting,
	licensing and training services.
	*/


	/*
	* Creates all the demo application tasks, then starts the scheduler. The WEB
	* documentation provides more details of the standard demo application tasks.
	* In addition to the standard demo tasks, the following tasks and tests are
	* defined and/or created within this file:
	*
	* "Check" task - This only executes every five seconds but has a high priority
	* to ensure it gets processor time. Its main function is to check that all the
	* standard demo tasks are still operational. While no errors have been
	* discovered the check task will toggle an LED every 5 seconds - the toggle
	* rate increasing to 500ms being a visual indication that at least one task has
	* reported unexpected behaviour.
	*
	* "Reg test" tasks - These fill the registers with known values, then check
	* that each register still contains its expected value. Each task uses
	* different values. The tasks run with very low priority so get preempted very
	* frequently. A register containing an unexpected value is indicative of an
	* error in the context switching mechanism.
	*
	*/

	/* Standard includes. */
	#include <stdio.h>

	/* Scheduler includes. */
	#include "FreeRTOS.h"
	#include "task.h"
	#include "queue.h"
	#include "semphr.h"

	/* Demo app includes. */
	#include "BlockQ.h"
	#include "death.h"
	#include "integer.h"
	#include "flash.h"
	#include "partest.h"
	#include "semtest.h"
	#include "PollQ.h"
	#include "GenQTest.h"
	#include "QPeek.h"
	#include "recmutex.h"
	#include "IntQueue.h"
	#include "comtest2.h"

	/-----------------------------------------------------------/

	/* The time between cycles of the 'check' functionality - as described at the
	top of this file. */
	#define mainNO_ERROR_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )

	/* The rate at which the LED controlled by the 'check' task will flash should an
	error have been detected. */
	#define mainERROR_PERIOD ( ( portTickType ) 500 / portTICK_RATE_MS )

	/* The LED controlled by the 'check' task. */
	#define mainCHECK_LED ( 3 )

	/* ComTest constants - there is no free LED for the comtest tasks. */
	#define mainCOM_TEST_BAUD_RATE ( ( unsigned portLONG ) 19200 )
	#define mainCOM_TEST_LED ( 5 )

	/* Task priorities. */
	#define mainCOM_TEST_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainQUEUE_POLL_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainCHECK_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 )
	#define mainSEM_TEST_PRIORITY ( tskIDLE_PRIORITY + 1 )
	#define mainBLOCK_Q_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainCREATOR_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )
	#define mainINTEGER_TASK_PRIORITY ( tskIDLE_PRIORITY )
	#define mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

	/*
	* Configure the hardware for the demo.
	*/
	static void prvSetupHardware( void );

	/*
	* Implements the 'check' task functionality as described at the top of this
	* file.
	*/
	static void prvCheckTask( void *pvParameters );

	/*
	* Implement the 'Reg test' functionality as described at the top of this file.
	*/
	static void vRegTest1Task( void *pvParameters );
	static void vRegTest2Task( void *pvParameters );

	/-----------------------------------------------------------/

	/* Counters used to detect errors within the reg test tasks. */
	static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

	/-----------------------------------------------------------/

	int main( void )
	{
	/* Setup the hardware ready for this demo. */
	prvSetupHardware();

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartInterruptQueueTasks();

	/* Start the reg test tasks - defined in this file. */
	xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

	/* Create the check task. */
	xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation in order to ascertain whether
	or not the correct/expected number of tasks are running at any given time. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* Start the scheduler. */
	vTaskStartScheduler();

	/* Will only get here if there was insufficient memory to create the idle
	task. */
	for( ;; );
	}
	/-----------------------------------------------------------/

	static void prvCheckTask( void *pvParameters )
	{
	unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
	portTickType xLastExecutionTime;

	( void ) pvParameters;

	/* Initialise the variable used to control our iteration rate prior to
	its first use. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
	/* Wait until it is time to run the tests again. */
	vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

	/* Has an error been found in any task? */
	if( xAreGenericQueueTasksStillRunning() != pdTRUE )
	{
	ulError \|= 0x01UL;
	}

	if( xAreQueuePeekTasksStillRunning() != pdTRUE )
	{
	ulError \|= 0x02UL;
	}

	if( xAreBlockingQueuesStillRunning() != pdTRUE )
	{
	ulError \|= 0x04UL;
	}

	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	{
	ulError \|= 0x20UL;
	}

	if( xArePollingQueuesStillRunning() != pdTRUE )
	{
	ulError \|= 0x40UL;
	}

	if( xIsCreateTaskStillRunning() != pdTRUE )
	{
	ulError \|= 0x80UL;
	}

	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	{
	ulError \|= 0x100UL;
	}

	if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	{
	ulError \|= 0x200UL;
	}

	if( xAreComTestTasksStillRunning() != pdTRUE )
	{
	ulError \|= 0x400UL;
	}

	if( xAreIntQueueTasksStillRunning() != pdTRUE )
	{
	ulError \|= 0x800UL;
	}

	if( ulLastRegTest1Count == ulRegTest1Counter )
	{
	ulError \|= 0x1000UL;
	}

	if( ulLastRegTest2Count == ulRegTest2Counter )
	{
	ulError \|= 0x1000UL;
	}

	ulLastRegTest1Count = ulRegTest1Counter;
	ulLastRegTest2Count = ulRegTest2Counter;

	/* If an error has been found then increase our cycle rate, and in so
	going increase the rate at which the check task LED toggles. */
	if( ulError != 0 )
	{
	ulTicksToWait = mainERROR_PERIOD;
	}

	/* Toggle the LED each itteration. */
	vParTestToggleLED( mainCHECK_LED );
	}
	}
	/-----------------------------------------------------------/

	void prvSetupHardware( void )
	{
	extern void mcf5xxx_wr_cacr( unsigned portLONG );

	portDISABLE_INTERRUPTS();

	/* Enable the cache. */
	mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB \| MCF5XXX_CACR_CINV \| MCF5XXX_CACR_DISD \| MCF5XXX_CACR_CEIB \| MCF5XXX_CACR_CLNF_00 );
	asm volatile( "NOP" ); /* As per errata. */

	/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
	MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );

	/* Wait for PLL to lock. */
	while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
	{
	__asm__ volatile ( "NOP" );
	}

	/* Setup the port used to toggle LEDs. */
	vParTestInitialise();
	}
	/-----------------------------------------------------------/

	void vApplicationStackOverflowHook( xTaskHandle pxTask, signed portCHAR pcTaskName )
	{
	/* This will get called if a stack overflow is detected during the context
	switch. Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
	problems within nested interrupts, but only do this for debug purposes as
	it will increase the context switch time. */

	( void ) pxTask;
	( void ) pcTaskName;

	for( ;; );
	}
	/-----------------------------------------------------------/

	static void vRegTest1Task( void *pvParameters )
	{
	/* Sanity check - did we receive the parameter expected? */
	if( pvParameters != &ulRegTest1Counter )
	{
	/* Change here so the check task can detect that an error occurred. */
	for( ;; );
	}

	/* Set all the registers to known values, then check that each retains its
	expected value - as described at the top of this file. If an error is
	found then the loop counter will no longer be incremented allowing the check
	task to recognise the error. */
	asm volatile ( "reg_test_1_start: \n\t"
	" moveq #1, %d0 \n\t"
	" moveq #2, %d1 \n\t"
	" moveq #3, %d2 \n\t"
	" moveq #4, %d3 \n\t"
	" moveq #5, %d4 \n\t"
	" moveq #6, %d5 \n\t"
	" moveq #7, %d6 \n\t"
	" moveq #8, %d7 \n\t"
	" move #9, %a0 \n\t"
	" move #10, %a1 \n\t"
	" move #11, %a2 \n\t"
	" move #12, %a3 \n\t"
	" move #13, %a4 \n\t"
	" move #14, %a5 \n\t"
	" move #15, %a6 \n\t"
	" \n\t"
	" cmpi.l #1, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #2, %d1 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #3, %d2 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #4, %d3 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #5, %d4 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #6, %d5 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #7, %d6 \n\t"
	" bne reg_test_1_error \n\t"
	" cmpi.l #8, %d7 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a0, %d0 \n\t"
	" cmpi.l #9, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a1, %d0 \n\t"
	" cmpi.l #10, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a2, %d0 \n\t"
	" cmpi.l #11, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a3, %d0 \n\t"
	" cmpi.l #12, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a4, %d0 \n\t"
	" cmpi.l #13, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a5, %d0 \n\t"
	" cmpi.l #14, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move %a6, %d0 \n\t"
	" cmpi.l #15, %d0 \n\t"
	" bne reg_test_1_error \n\t"
	" movel ulRegTest1Counter, %d0 \n\t"
	" addql #1, %d0 \n\t"
	" movel %d0, ulRegTest1Counter \n\t"
	" bra reg_test_1_start \n\t"
	"reg_test_1_error: \n\t"
	" bra reg_test_1_error \n\t"
	);
	}
	/-----------------------------------------------------------/

	static void vRegTest2Task( void *pvParameters )
	{
	/* Sanity check - did we receive the parameter expected? */
	if( pvParameters != &ulRegTest2Counter )
	{
	/* Change here so the check task can detect that an error occurred. */
	for( ;; );
	}

	/* Set all the registers to known values, then check that each retains its
	expected value - as described at the top of this file. If an error is
	found then the loop counter will no longer be incremented allowing the check
	task to recognise the error. */
	asm volatile ( "reg_test_2_start: \n\t"
	" moveq #10, %d0 \n\t"
	" moveq #20, %d1 \n\t"
	" moveq #30, %d2 \n\t"
	" moveq #40, %d3 \n\t"
	" moveq #50, %d4 \n\t"
	" moveq #60, %d5 \n\t"
	" moveq #70, %d6 \n\t"
	" moveq #80, %d7 \n\t"
	" move #90, %a0 \n\t"
	" move #100, %a1 \n\t"
	" move #110, %a2 \n\t"
	" move #120, %a3 \n\t"
	" move #130, %a4 \n\t"
	" move #140, %a5 \n\t"
	" move #150, %a6 \n\t"
	" \n\t"
	" cmpi.l #10, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #20, %d1 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #30, %d2 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #40, %d3 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #50, %d4 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #60, %d5 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #70, %d6 \n\t"
	" bne reg_test_2_error \n\t"
	" cmpi.l #80, %d7 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a0, %d0 \n\t"
	" cmpi.l #90, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a1, %d0 \n\t"
	" cmpi.l #100, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a2, %d0 \n\t"
	" cmpi.l #110, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a3, %d0 \n\t"
	" cmpi.l #120, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a4, %d0 \n\t"
	" cmpi.l #130, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a5, %d0 \n\t"
	" cmpi.l #140, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move %a6, %d0 \n\t"
	" cmpi.l #150, %d0 \n\t"
	" bne reg_test_2_error \n\t"
	" movel ulRegTest1Counter, %d0 \n\t"
	" addql #1, %d0 \n\t"
	" movel %d0, ulRegTest2Counter \n\t"
	" bra reg_test_2_start \n\t"
	"reg_test_2_error: \n\t"
	" bra reg_test_2_error \n\t"
	);
	}
	/-----------------------------------------------------------/