FreeRTOS/Demo/ColdFire_MCF51CN128_CodeWarrior/Sources/main.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
  * FreeRTOS Kernel V10.3.0
  * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
  * the Software without restriction, including without limitation the rights to
  * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
  * the Software, and to permit persons to whom the Software is furnished to do so,
  * subject to the following conditions:
  *
  * The above copyright notice and this permission notice shall be included in all
  * copies or substantial portions of the Software.
  *
  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
  * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
  * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
  * http://www.FreeRTOS.org
  * http://aws.amazon.com/freertos
  *
  * 1 tab == 4 spaces!
  */


 /*
  * 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:
  *
  * "Web server" - Very basic demonstration of the uIP stack.  The WEB server
  * simply generates a page that shows the current state of all the tasks within
  * the system, including the high water mark of each task stack. The high water
  * mark is displayed as the amount of stack that has never been used, so the
  * closer the value is to zero the closer the task has come to overflowing its
  * stack.  The IP address and net mask are set within FreeRTOSConfig.h.  Sub
  * pages display some TCP/IP status information and permit LED3 to be turned on
  * and off using a check box.
  *
  * Tick hook function that implements a "Check" function -  This is executed
  * every 5 seconds from the tick hook function.  It checks to ensure that all
  * the standard demo tasks are still operational and running without error.
  * The system status (pass/fail) is then displayed underneith the task table on
  * the served WEB pages.
  *
  * "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 "flash.h"
 #include "partest.h"
 #include "GenQTest.h"
 #include "QPeek.h"
 #include "recmutex.h"

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

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

 /* Task priorities. */
 #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 )
 #define mainWEB_TASK_PRIORITY       		( tskIDLE_PRIORITY + 2 )

 /* WEB server requires enough stack for the string handling functions. */
 #define mainBASIC_WEB_STACK_SIZE            ( configMINIMAL_STACK_SIZE * 2 )

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

 /*
  * Implements the 'check' function as described at the top of this file.
  */
 static void prvCheckFunction( void );

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

 /*
  * The task that handles the uIP stack.  All TCP/IP processing is performed in
  * this task.
  */
 extern void vuIP_Task( void *pvParameters );

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

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

 /* Flag that latches any errors detected in the system. */
 unsigned long ulCheckErrors = 0;

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

 int main( void )
 {
 extern void vBasicWEBServer( void *pv );

 	/* Setup the hardware ready for this demo. */
 	prvSetupHardware();

 	xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

 	/* Start the standard demo tasks. */
 	vStartLEDFlashTasks( tskIDLE_PRIORITY );
 	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
 	vStartQueuePeekTasks();
 	vStartRecursiveMutexTasks();
 	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

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

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

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

 void vApplicationTickHook( void )
 {
 static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
 const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS;

     /* Increment the count of how many times the tick hook has been called. */
     ulExecutionCount++;

     /* Is it time to perform the check again? */
 	if( ulExecutionCount >= ulExecutionRate )
 	{
 		/* Reset the execution count so this function is called again in 5
 		seconds time. */
 		ulExecutionCount = 0;

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

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

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

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

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

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

 		ulLastRegTest1Count = ulRegTest1Counter;
 		ulLastRegTest2Count = ulRegTest2Counter;
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvSetupHardware( void )
 {
 	/* Disable the watchdog, STOP and WAIT modes. */
 	SOPT1 = 0;

 	/* --- Setup clock to use external 25MHz source. --- */

 	/* Extal and xtal pin ON. */
 	PTDPF1_D4 = 0x03;
 	PTDPF1_D5 = 0x03;

 	/* Switch from FEI to FBE (FLL bypassed external)
 	enable external clock source */
 	MCGC2 = MCGC2_ERCLKEN_MASK  /* Activate external reference clock */
 	      | MCGC2_EREFS_MASK    /* Because crystal is being used */
 	      | MCGC2_RANGE_MASK;   /* High range */

 	/* Select clock mode and clear IREFs. */
 	MCGC1 = (0x02 << 6 )        /* CLKS = 10 -> external reference clock. */
 	      | (0x04 << 3 )        /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
 	      | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */

 	/* Wait for Reference and Clock status bits to update. */
 	while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
 	{
 		/* Nothing to do here. */
 	}

 	/* Switch from FBE to PBE (PLL bypassed internal) mode. */
 	MCGC3 =  0x08               /* Set PLL multi 50MHz. */
 	      |  MCGC3_PLLS_MASK;   /* Select PLL. */

 	/* Wait for PLL status and lock bits to update. */
 	while( !MCGSC_PLLST | !MCGSC_LOCK )
 	{
 		/* Nothing to do here. */
 	}


 	/* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
 	mode). */
 	MCGC1_CLKS  = 0b00; /* PLL clock to system (MCGOUT) */

 	/* Wait for the clock status bits to update. */
 	while( MCGSC_CLKST != 0x03 )
 	{
 		/* Nothing to do here. */
 	}

 	/* Setup the IO for the LED outputs. */
 	vParTestInitialise();
 }
 /*-----------------------------------------------------------*/

 void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *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 )
 {
   /* Just to remove compiler warnings. */
   ( void ) pvParameters;

 	/* 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		#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		a6, d0					\n\t"
 						"	cmpi.l		#15, d0					\n\t"
 						"	bne			reg_test_1_error		\n\t"
 						"	move		ulRegTest1Counter, d0	\n\t"
 						"	addq		#1, d0					\n\t"
 						"	move		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 )
 {
   /* Just to remove compiler warnings. */
   ( void ) pvParameters;

 	/* 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		#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		a6, d0					\n\t"
 						"	cmpi.l		#150, d0				\n\t"
 						"	bne			reg_test_2_error		\n\t"
 						"	move		ulRegTest1Counter, d0	\n\t"
 						"	addq		#1, d0					\n\t"
 						"	move		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 Kernel V10.3.0
	* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
	*
	* Permission is hereby granted, free of charge, to any person obtaining a copy of
	* this software and associated documentation files (the "Software"), to deal in
	* the Software without restriction, including without limitation the rights to
	* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
	* the Software, and to permit persons to whom the Software is furnished to do so,
	* subject to the following conditions:
	*
	* The above copyright notice and this permission notice shall be included in all
	* copies or substantial portions of the Software.
	*
	* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
	* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
	* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
	* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
	* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
	*
	* http://www.FreeRTOS.org
	* http://aws.amazon.com/freertos
	*
	* 1 tab == 4 spaces!
	*/


	/*
	* 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:
	*
	* "Web server" - Very basic demonstration of the uIP stack. The WEB server
	* simply generates a page that shows the current state of all the tasks within
	* the system, including the high water mark of each task stack. The high water
	* mark is displayed as the amount of stack that has never been used, so the
	* closer the value is to zero the closer the task has come to overflowing its
	* stack. The IP address and net mask are set within FreeRTOSConfig.h. Sub
	* pages display some TCP/IP status information and permit LED3 to be turned on
	* and off using a check box.
	*
	* Tick hook function that implements a "Check" function - This is executed
	* every 5 seconds from the tick hook function. It checks to ensure that all
	* the standard demo tasks are still operational and running without error.
	* The system status (pass/fail) is then displayed underneith the task table on
	* the served WEB pages.
	*
	* "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 "flash.h"
	#include "partest.h"
	#include "GenQTest.h"
	#include "QPeek.h"
	#include "recmutex.h"

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

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

	/* Task priorities. */
	#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 )
	#define mainWEB_TASK_PRIORITY ( tskIDLE_PRIORITY + 2 )

	/* WEB server requires enough stack for the string handling functions. */
	#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )

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

	/*
	* Implements the 'check' function as described at the top of this file.
	*/
	static void prvCheckFunction( void );

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

	/*
	* The task that handles the uIP stack. All TCP/IP processing is performed in
	* this task.
	*/
	extern void vuIP_Task( void *pvParameters );

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

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

	/* Flag that latches any errors detected in the system. */
	unsigned long ulCheckErrors = 0;

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

	int main( void )
	{
	extern void vBasicWEBServer( void *pv );

	/* Setup the hardware ready for this demo. */
	prvSetupHardware();

	xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

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

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

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

	void vApplicationTickHook( void )
	{
	static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
	const unsigned long ulExecutionRate = 5000 / portTICK_PERIOD_MS;

	/* Increment the count of how many times the tick hook has been called. */
	ulExecutionCount++;

	/* Is it time to perform the check again? */
	if( ulExecutionCount >= ulExecutionRate )
	{
	/* Reset the execution count so this function is called again in 5
	seconds time. */
	ulExecutionCount = 0;

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

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

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

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

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

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

	ulLastRegTest1Count = ulRegTest1Counter;
	ulLastRegTest2Count = ulRegTest2Counter;
	}
	}
	/-----------------------------------------------------------/

	static void prvSetupHardware( void )
	{
	/* Disable the watchdog, STOP and WAIT modes. */
	SOPT1 = 0;

	/* --- Setup clock to use external 25MHz source. --- */

	/* Extal and xtal pin ON. */
	PTDPF1_D4 = 0x03;
	PTDPF1_D5 = 0x03;

	/* Switch from FEI to FBE (FLL bypassed external)
	enable external clock source */
	MCGC2 = MCGC2_ERCLKEN_MASK /* Activate external reference clock */
	\| MCGC2_EREFS_MASK /* Because crystal is being used */
	\| MCGC2_RANGE_MASK; /* High range */

	/* Select clock mode and clear IREFs. */
	MCGC1 = (0x02 << 6 ) /* CLKS = 10 -> external reference clock. */
	\| (0x04 << 3 ) /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
	\| MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */

	/* Wait for Reference and Clock status bits to update. */
	while( MCGSC_IREFST \| ( MCGSC_CLKST != 0x02 ) )
	{
	/* Nothing to do here. */
	}

	/* Switch from FBE to PBE (PLL bypassed internal) mode. */
	MCGC3 = 0x08 /* Set PLL multi 50MHz. */
	\| MCGC3_PLLS_MASK; /* Select PLL. */

	/* Wait for PLL status and lock bits to update. */
	while( !MCGSC_PLLST \| !MCGSC_LOCK )
	{
	/* Nothing to do here. */
	}


	/* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external
	mode). */
	MCGC1_CLKS = 0b00; /* PLL clock to system (MCGOUT) */

	/* Wait for the clock status bits to update. */
	while( MCGSC_CLKST != 0x03 )
	{
	/* Nothing to do here. */
	}

	/* Setup the IO for the LED outputs. */
	vParTestInitialise();
	}
	/-----------------------------------------------------------/

	void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *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 )
	{
	/* Just to remove compiler warnings. */
	( void ) pvParameters;

	/* 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 #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 a6, d0 \n\t"
	" cmpi.l #15, d0 \n\t"
	" bne reg_test_1_error \n\t"
	" move ulRegTest1Counter, d0 \n\t"
	" addq #1, d0 \n\t"
	" move 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 )
	{
	/* Just to remove compiler warnings. */
	( void ) pvParameters;

	/* 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 #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 a6, d0 \n\t"
	" cmpi.l #150, d0 \n\t"
	" bne reg_test_2_error \n\t"
	" move ulRegTest1Counter, d0 \n\t"
	" addq #1, d0 \n\t"
	" move d0, ulRegTest2Counter \n\t"
	" bra reg_test_2_start \n\t"
	"reg_test_2_error: \n\t"
	" bra reg_test_2_error \n\t"
	);
	}
	/-----------------------------------------------------------/