FreeRTOS/Demo/ColdFire_MCF52221_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:
  *
  * "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 "crflash.h"
 #include "partest.h"
 #include "semtest.h"
 #include "GenQTest.h"
 #include "QPeek.h"
 #include "comtest2.h"

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

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

 /* The rate at which the LED controlled by the 'check' task will flash should an
 error have been detected. */
 #define mainERROR_PERIOD 					( ( TickType_t ) 500 / portTICK_PERIOD_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 long ) 19200 )
 #define mainCOM_TEST_LED					( 5 )

 /* Task priorities. */
 #define mainCOM_TEST_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 mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

 /* Co-routines are used to flash the LEDs. */
 #define mainNUM_FLASH_CO_ROUTINES			( 3 )

 /* The baud rate used by the comtest tasks. */
 #define mainBAUD_RATE 						( 38400 )

 /* There is no spare LED for the comtest tasks, so this is set to an invalid
 number. */
 #define mainCOM_LED							( 4 )

 /*
  * 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 long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

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

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

 	/* Start the standard demo tasks. */
 	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
 	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
 	vStartQueuePeekTasks();
 	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
 	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );

 	/* For demo purposes use some co-routines to flash the LEDs. */
 	vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );

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


 	/* 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( ;; )
 	{
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvCheckTask( void *pvParameters )
 {
 unsigned long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
 TickType_t xLastExecutionTime;
 volatile unsigned portBASE_TYPE uxUnusedStack;

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

 		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
 		doing increase the rate at which the check task LED toggles. */
 		if( ulError != 0 )
 		{
 	    	ulTicksToWait = mainERROR_PERIOD;
 		}

 		/* Toggle the LED each iteration. */
 		vParTestToggleLED( mainCHECK_LED );

 		/* For demo only - how much unused stack does this task have? */
 		uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
 	}
 }
 /*-----------------------------------------------------------*/

 void prvSetupHardware( void )
 {
 	portDISABLE_INTERRUPTS();

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

 void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed 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( ;; )
 	{
 	}
 }
 /*-----------------------------------------------------------*/

 void vApplicationIdleHook( void );
 void vApplicationIdleHook( void )
 {
 	/* The co-routines run in the idle task. */
 	vCoRoutineSchedule();
 }
 /*-----------------------------------------------------------*/

 void exit( int n )
 {
 	/* To keep the linker happy only as the libraries have been removed from
 	the build. */
 	( void ) n;
 	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"
 						"	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 )
 {
 	/* 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"
 						"	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:
	*
	* "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 "crflash.h"
	#include "partest.h"
	#include "semtest.h"
	#include "GenQTest.h"
	#include "QPeek.h"
	#include "comtest2.h"

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

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

	/* The rate at which the LED controlled by the 'check' task will flash should an
	error have been detected. */
	#define mainERROR_PERIOD ( ( TickType_t ) 500 / portTICK_PERIOD_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 long ) 19200 )
	#define mainCOM_TEST_LED ( 5 )

	/* Task priorities. */
	#define mainCOM_TEST_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 mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

	/* Co-routines are used to flash the LEDs. */
	#define mainNUM_FLASH_CO_ROUTINES ( 3 )

	/* The baud rate used by the comtest tasks. */
	#define mainBAUD_RATE ( 38400 )

	/* There is no spare LED for the comtest tasks, so this is set to an invalid
	number. */
	#define mainCOM_LED ( 4 )

	/*
	* 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 long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

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

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

	/* Start the standard demo tasks. */
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );

	/* For demo purposes use some co-routines to flash the LEDs. */
	vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );

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


	/* 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( ;; )
	{
	}
	}
	/-----------------------------------------------------------/

	static void prvCheckTask( void *pvParameters )
	{
	unsigned long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
	TickType_t xLastExecutionTime;
	volatile unsigned portBASE_TYPE uxUnusedStack;

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

	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
	doing increase the rate at which the check task LED toggles. */
	if( ulError != 0 )
	{
	ulTicksToWait = mainERROR_PERIOD;
	}

	/* Toggle the LED each iteration. */
	vParTestToggleLED( mainCHECK_LED );

	/* For demo only - how much unused stack does this task have? */
	uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
	}
	}
	/-----------------------------------------------------------/

	void prvSetupHardware( void )
	{
	portDISABLE_INTERRUPTS();

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

	void vApplicationStackOverflowHook( TaskHandle_t pxTask, signed 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( ;; )
	{
	}
	}
	/-----------------------------------------------------------/

	void vApplicationIdleHook( void );
	void vApplicationIdleHook( void )
	{
	/* The co-routines run in the idle task. */
	vCoRoutineSchedule();
	}
	/-----------------------------------------------------------/

	void exit( int n )
	{
	/* To keep the linker happy only as the libraries have been removed from
	the build. */
	( void ) n;
	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"
	" 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 )
	{
	/* 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"
	" 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"
	);
	}
	/-----------------------------------------------------------/