FreeRTOS/Demo/ColdFire_MCF52233_Eclipse/RTOSDemo/main.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
  * FreeRTOS Kernel V10.0.1
  * Copyright (C) 2017 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:
  *
  * "uIP" task -  This is the task that handles the uIP stack.  All TCP/IP
  * processing is performed in this task.  It manages the WEB server functionality.
  *
  * "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.  An error found in any task will be
  * latched in the ulErrorCode variable for display through the WEB server (the
  * error code is displayed at the foot of the table that contains information on
  * the state of each task).
  *
  * "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 "blocktim.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 mainCHECK_TASK_PERIOD					( ( portTickType ) 5000 / portTICK_RATE_MS )

 /* 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 mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

 /* The WEB server task uses more stack than most other tasks because of its
 reliance on using sprintf(). */
 #define mainBASIC_WEB_STACK_SIZE			( configMINIMAL_STACK_SIZE * 2 )

 /*
  * 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 );

 /*
  * The task that implements the WEB server.
  */
 extern void vuIP_Task( 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;

 /* Any errors that the check task finds in any tasks are latched into
 ulErrorCode, and then displayed via the WEB server. */
 static unsigned long ulErrorCode = 0UL;

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

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

 	/* Create the WEB server task. */
 	xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

 	/* Start the standard demo tasks. */
 	vStartLEDFlashTasks( tskIDLE_PRIORITY );
 	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
     vCreateBlockTimeTasks();
 	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
 	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
 	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
 	vStartQueuePeekTasks();
     vStartRecursiveMutexTasks();

 	/* 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 );

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

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

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

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

 	/* To prevent compiler warnings. */
 	( 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, mainCHECK_TASK_PERIOD );

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

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

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

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

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

 		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
 		{
 			ulErrorCode |= 0x80UL;
 		}

 	    if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
 	    {
 	    	ulErrorCode |= 0x100UL;
 	    }

 		if( ulLastRegTest1Count == ulRegTest1Counter )
 		{
 			ulErrorCode |= 0x200UL;
 		}

 		if( ulLastRegTest2Count == ulRegTest2Counter )
 		{
 			ulErrorCode |= 0x200UL;
 		}

 		/* Remember the reg test counts so a stall in their values can be
 		detected next time around. */
 		ulLastRegTest1Count = ulRegTest1Counter;
 		ulLastRegTest2Count = ulRegTest2Counter;
 	}
 }
 /*-----------------------------------------------------------*/

 unsigned long ulGetErrorCode( void )
 {
 	/* Returns the error code for display via the WEB server. */
 	return ulErrorCode;
 }
 /*-----------------------------------------------------------*/

 void prvSetupHardware( void )
 {
 __attribute__ ((section(".cfmconfig")))
 static const unsigned long _cfm[6] = {
 	0, /* KEY_UPPER 0x00000400 */
 	0, /* KEY_LOWER 0x00000404 */
 	0, /* CFMPROT 0x00000408 */
 	0, /* CFMSACC 0x0000040C */
 	0, /* CFMDACC 0x00000410 */
 	0, /* CFMSEC 0x00000414 */
 };

 	/* Just to stop compiler warnings. */
 	( void ) _cfm;

 	/* Ensure the watchdog is disabled. */
 	MCF_SCM_CWCR = 0;

     /* Initialize IPSBAR (0x40000000). */
 	asm volatile(
 		"move.l  #0x40000000,%d0	\n"
 		"andi.l  #0xC0000000,%d0	\n"
 		"add.l   #0x1,%d0			\n"
 		"move.l  %d0,0x40000000		"
 	);

     /* Initialize FLASHBAR (0x00) */
 	asm volatile(
 		"move.l  #0x00,%d0			\n"
 		"andi.l  #0xFFF80000,%d0	\n"
 		"add.l   #0x41,%d0			\n"
 		"movec   %d0,%FLASHBAR		"
 	);

 	portDISABLE_INTERRUPTS();

 	/* RAMBAR. */
 	MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;

 	/* Multiply 25MHz crystal by 12 to get 60MHz clock. */
 	MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
 	while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
 	{
 	}

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

 void vApplicationStackOverflowHook( xTaskHandle *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( ;; );
 }
 /*-----------------------------------------------------------*/

 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 Kernel V10.0.1
	* Copyright (C) 2017 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:
	*
	* "uIP" task - This is the task that handles the uIP stack. All TCP/IP
	* processing is performed in this task. It manages the WEB server functionality.
	*
	* "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. An error found in any task will be
	* latched in the ulErrorCode variable for display through the WEB server (the
	* error code is displayed at the foot of the table that contains information on
	* the state of each task).
	*
	* "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 "blocktim.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 mainCHECK_TASK_PERIOD ( ( portTickType ) 5000 / portTICK_RATE_MS )

	/* 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 mainGEN_QUEUE_TASK_PRIORITY ( tskIDLE_PRIORITY )

	/* The WEB server task uses more stack than most other tasks because of its
	reliance on using sprintf(). */
	#define mainBASIC_WEB_STACK_SIZE ( configMINIMAL_STACK_SIZE * 2 )

	/*
	* 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 );

	/*
	* The task that implements the WEB server.
	*/
	extern void vuIP_Task( 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;

	/* Any errors that the check task finds in any tasks are latched into
	ulErrorCode, and then displayed via the WEB server. */
	static unsigned long ulErrorCode = 0UL;

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

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

	/* Create the WEB server task. */
	xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();

	/* 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 );

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

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

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

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

	/* To prevent compiler warnings. */
	( 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, mainCHECK_TASK_PERIOD );

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

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

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

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

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

	if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
	{
	ulErrorCode \|= 0x80UL;
	}

	if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	{
	ulErrorCode \|= 0x100UL;
	}

	if( ulLastRegTest1Count == ulRegTest1Counter )
	{
	ulErrorCode \|= 0x200UL;
	}

	if( ulLastRegTest2Count == ulRegTest2Counter )
	{
	ulErrorCode \|= 0x200UL;
	}

	/* Remember the reg test counts so a stall in their values can be
	detected next time around. */
	ulLastRegTest1Count = ulRegTest1Counter;
	ulLastRegTest2Count = ulRegTest2Counter;
	}
	}
	/-----------------------------------------------------------/

	unsigned long ulGetErrorCode( void )
	{
	/* Returns the error code for display via the WEB server. */
	return ulErrorCode;
	}
	/-----------------------------------------------------------/

	void prvSetupHardware( void )
	{
	__attribute__ ((section(".cfmconfig")))
	static const unsigned long _cfm[6] = {
	0, /* KEY_UPPER 0x00000400 */
	0, /* KEY_LOWER 0x00000404 */
	0, /* CFMPROT 0x00000408 */
	0, /* CFMSACC 0x0000040C */
	0, /* CFMDACC 0x00000410 */
	0, /* CFMSEC 0x00000414 */
	};

	/* Just to stop compiler warnings. */
	( void ) _cfm;

	/* Ensure the watchdog is disabled. */
	MCF_SCM_CWCR = 0;

	/* Initialize IPSBAR (0x40000000). */
	asm volatile(
	"move.l #0x40000000,%d0 \n"
	"andi.l #0xC0000000,%d0 \n"
	"add.l #0x1,%d0 \n"
	"move.l %d0,0x40000000 "
	);

	/* Initialize FLASHBAR (0x00) */
	asm volatile(
	"move.l #0x00,%d0 \n"
	"andi.l #0xFFF80000,%d0 \n"
	"add.l #0x41,%d0 \n"
	"movec %d0,%FLASHBAR "
	);

	portDISABLE_INTERRUPTS();

	/* RAMBAR. */
	MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) \| MCF_SCM_RAMBAR_BDE;

	/* Multiply 25MHz crystal by 12 to get 60MHz clock. */
	MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) \| MCF_CLOCK_SYNCR_CLKSRC\| MCF_CLOCK_SYNCR_PLLMODE \| MCF_CLOCK_SYNCR_PLLEN ;
	while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
	{
	}

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

	void vApplicationStackOverflowHook( xTaskHandle 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( ;; );
	}
	/-----------------------------------------------------------/

	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"
	);
	}
	/-----------------------------------------------------------/