Make the parameters to vPortDefineHeapRegions() const.

Add additional asserts to the Keil CM3 and CM4F ports (other CM3/4 ports already updated).
Add the additional yield necessitated by the mutex held count to the case when configUSE_QUEUE_SETS is 0.

FreeRTOS/Source/include/portable.h

@@ -381,7 +381,7 @@ typedef struct HeapRegion
  * terminated by a HeapRegions_t structure that has a size of 0.  The region 
  * with the lowest start address must appear first in the array.
  */
-void vPortDefineHeapRegions( HeapRegion_t *pxHeapRegions );
+void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions );
 
 
 /*

FreeRTOS/Source/portable/MemMang/heap_5.c

@@ -424,14 +424,14 @@ uint8_t *puc;
 }
 /*-----------------------------------------------------------*/
 
-void vPortDefineHeapRegions( HeapRegion_t *pxHeapRegions )
+void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions )
 {
 BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock;
 uint8_t *pucAlignedHeap;
 size_t xTotalRegionSize, xTotalHeapSize = 0;
 BaseType_t xDefinedRegions = 0;
 uint32_t ulAddress;
-HeapRegion_t *pxHeapRegion;
+const HeapRegion_t *pxHeapRegion;
 
 	/* Can only call once! */
 	configASSERT( pxEnd == NULL );

FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c

@@ -110,6 +110,9 @@ is defined. */
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK					( 0x1FUL )
+
 #define portNVIC_PENDSV_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
@@ -268,11 +271,13 @@ __asm void prvStartFirstTask( void )
 	msr msp, r0
 	/* Globally enable interrupts. */
 	cpsie i
+	cpsie f
 	dsb
 	isb
 	/* Call SVC to start the first task. */
 	svc 0
 	nop
+	nop
 }
 /*-----------------------------------------------------------*/
 
@@ -370,6 +375,16 @@ void vPortEnterCritical( void )
 	uxCriticalNesting++;
 	__dsb( portSY_FULL_READ_WRITE );
 	__isb( portSY_FULL_READ_WRITE );
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( uxCriticalNesting == 1 )
+	{
+		configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+	}
 }
 /*-----------------------------------------------------------*/
 

FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c

@@ -123,6 +123,9 @@ is defined. */
 #define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
 #define portPRIGROUP_SHIFT					( 8UL )
 
+/* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
+#define portVECTACTIVE_MASK					( 0x1FUL )
+
 /* Constants required to manipulate the VFP. */
 #define portFPCCR					( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
 #define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )
@@ -290,11 +293,13 @@ __asm void prvStartFirstTask( void )
 	msr msp, r0
 	/* Globally enable interrupts. */
 	cpsie i
+	cpsie f
 	dsb
 	isb
 	/* Call SVC to start the first task. */
 	svc 0
 	nop
+	nop
 }
 /*-----------------------------------------------------------*/
 
@@ -414,6 +419,16 @@ void vPortEnterCritical( void )
 	uxCriticalNesting++;
 	__dsb( portSY_FULL_READ_WRITE );
 	__isb( portSY_FULL_READ_WRITE );
+
+	/* This is not the interrupt safe version of the enter critical function so
+	assert() if it is being called from an interrupt context.  Only API
+	functions that end in "FromISR" can be used in an interrupt.  Only assert if
+	the critical nesting count is 1 to protect against recursive calls if the
+	assert function also uses a critical section. */
+	if( uxCriticalNesting == 1 )
+	{
+		configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+	}
 }
 /*-----------------------------------------------------------*/
 

FreeRTOS/Source/queue.c

@@ -511,7 +511,7 @@ QueueHandle_t xReturn = NULL;
 		}
 		else
 		{
-			/* The mutex cannot be given because the calling task is not the 
+			/* The mutex cannot be given because the calling task is not the
 			holder. */
 			xReturn = pdFAIL;
 
@@ -547,7 +547,7 @@ QueueHandle_t xReturn = NULL;
 		{
 			xReturn = xQueueGenericReceive( pxMutex, NULL, xTicksToWait, pdFALSE );
 
-			/* pdPASS will only be returned if the mutex was successfully 
+			/* pdPASS will only be returned if the mutex was successfully
 			obtained.  The calling task may have entered the Blocked state
 			before reaching here. */
 			if( xReturn == pdPASS )
@@ -695,6 +695,14 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 							mtCOVERAGE_TEST_MARKER();
 						}
 					}
+					else if( xYieldRequired != pdFALSE )
+					{
+						/* This path is a special case that will only get
+						executed if the task was holding multiple mutexes and
+						the mutexes were given back in an order that is
+						different to that in which they were taken. */
+						queueYIELD_IF_USING_PREEMPTION();
+					}					
 					else
 					{
 						mtCOVERAGE_TEST_MARKER();
@@ -1627,7 +1635,7 @@ BaseType_t xReturn = pdFALSE;
 				/* The mutex is no longer being held. */
 				vTaskDecrementMutexHeldCount();
 				xReturn = xTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder );
-				pxQueue->pxMutexHolder = NULL;				
+				pxQueue->pxMutexHolder = NULL;
 			}
 			else
 			{