Added portASSERT_IF_INTERRUPT_PRIORITY_INVALID() implementation to Cortex-M3 and Cortex-M4F ports.

FreeRTOS/Source/include/FreeRTOS.h

@@ -229,6 +229,9 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 
 #ifndef configASSERT
 	#define configASSERT( x )
+	#define configASSERT_DEFINED 0
+#else
+	#define configASSERT_DEFINED 1
 #endif
 
 /* The timers module relies on xTaskGetSchedulerState(). */
@@ -592,6 +595,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * );
 	#define configINCLUDE_STATS_FORMATTING_FUNCTIONS 0
 #endif
 
+#ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* For backward compatability. */
 #define eTaskStateGet eTaskGetState
 

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

@@ -107,6 +107,12 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
+/* Constants required to check the validity of an interrupt prority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR					( 0x01000000 )
 
@@ -166,6 +172,16 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -231,6 +247,33 @@ portBASE_TYPE xPortStartScheduler( void )
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
 
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt
+		priority register. */
+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+		/* Read back the written priority to obtain its value as seen by the
+		hardware, which will only implement a subset of the priority bits. */
+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -523,4 +566,81 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for 
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called 
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must 
+			be set to a value equal to or numerically *higher* than 
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 
+			and	therefore also guaranteed to be invalid.  
+			
+			FreeRTOS maintains separate thread and ISR API functions to ensure 
+			interrupt entry is as fast and simple as possible.
+			
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 
+		that define each interrupt's priority to be split between bits that 
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined 
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).  
+		
+		If CMSIS libraries are being used then the correct setting can be 
+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 
+		scheduler. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 

FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h

@@ -180,6 +180,13 @@ not necessary for to use this port.  They are defined so the common demo files
 
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#else
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 

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

@@ -104,6 +104,12 @@
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
+/* Constants required to check the validity of an interrupt prority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+
 /* Constants required to manipulate the VFP. */
 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
 #define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )
@@ -173,6 +179,16 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -249,6 +265,33 @@ portBASE_TYPE xPortStartScheduler( void )
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
 
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt
+		priority register. */
+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+		/* Read back the written priority to obtain its value as seen by the
+		hardware, which will only implement a subset of the priority bits. */
+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -572,4 +615,63 @@ static void vPortEnableVFP( void )
 		"	bx r14						"
 	);
 }
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for 
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called 
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must 
+			be set to a value equal to or numerically *higher* than 
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 
+			and	therefore also guaranteed to be invalid.  
+			
+			FreeRTOS maintains separate thread and ISR API functions to ensure 
+			interrupt entry is as fast and simple as possible.
+			
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 
+		that define each interrupt's priority to be split between bits that 
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined 
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).  
+		
+		If CMSIS libraries are being used then the correct setting can be 
+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 
+		scheduler. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );
+	}
+
+#endif /* configASSERT_DEFINED */
+
 

FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h

@@ -181,6 +181,13 @@ not necessary for to use this port.  They are defined so the common demo files
 
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#else
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 

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

@@ -107,6 +107,12 @@
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
+/* Constants required to check the validity of an interrupt prority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR					( 0x01000000 )
 
@@ -171,6 +177,16 @@ extern void vPortStartFirstTask( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -199,6 +215,33 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt
+		priority register. */
+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+		/* Read back the written priority to obtain its value as seen by the
+		hardware, which will only implement a subset of the priority bits. */
+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -425,4 +468,81 @@ __weak void vPortSetupTimerInterrupt( void )
 	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for 
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called 
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must 
+			be set to a value equal to or numerically *higher* than 
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 
+			and	therefore also guaranteed to be invalid.  
+			
+			FreeRTOS maintains separate thread and ISR API functions to ensure 
+			interrupt entry is as fast and simple as possible.
+			
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 
+		that define each interrupt's priority to be split between bits that 
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined 
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).  
+		
+		If CMSIS libraries are being used then the correct setting can be 
+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 
+		scheduler. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 

FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h

@@ -171,6 +171,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#else
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 

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

@@ -111,6 +111,12 @@
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
+/* Constants required to check the validity of an interrupt prority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+
 /* Constants required to manipulate the VFP. */
 #define portFPCCR							( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
 #define portASPEN_AND_LSPEN_BITS			( 0x3UL << 30UL )
@@ -179,6 +185,16 @@ extern void vPortEnableVFP( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -219,6 +235,33 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt
+		priority register. */
+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+		/* Read back the written priority to obtain its value as seen by the
+		hardware, which will only implement a subset of the priority bits. */
+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -451,4 +494,81 @@ __weak void vPortSetupTimerInterrupt( void )
 	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for 
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called 
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must 
+			be set to a value equal to or numerically *higher* than 
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 
+			and	therefore also guaranteed to be invalid.  
+			
+			FreeRTOS maintains separate thread and ISR API functions to ensure 
+			interrupt entry is as fast and simple as possible.
+			
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 
+		that define each interrupt's priority to be split between bits that 
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined 
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).  
+		
+		If CMSIS libraries are being used then the correct setting can be 
+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 
+		scheduler. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 

FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h

@@ -172,6 +172,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#else
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 

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

@@ -117,6 +117,12 @@ is defined. */
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
+/* Constants required to check the validity of an interrupt prority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR			( 0x01000000 )
 
@@ -179,6 +185,16 @@ static void prvStartFirstTask( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -241,6 +257,33 @@ __asm void prvStartFirstTask( void )
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt
+		priority register. */
+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+		/* Read back the written priority to obtain its value as seen by the
+		hardware, which will only implement a subset of the priority bits. */
+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -524,3 +567,72 @@ __asm void vPortClearInterruptMask( unsigned long ulNewMask )
 	msr basepri, r0
 	bx r14
 }
+/*-----------------------------------------------------------*/
+
+__asm unsigned long vPortGetIPSR( void )
+{
+	PRESERVE8
+	
+	mrs r0, ipsr
+	bx r14
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		ulCurrentInterrupt = vPortGetIPSR();
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for 
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called 
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must 
+			be set to a value equal to or numerically *higher* than 
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 
+			and	therefore also guaranteed to be invalid.  
+			
+			FreeRTOS maintains separate thread and ISR API functions to ensure 
+			interrupt entry is as fast and simple as possible.
+			
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 
+		that define each interrupt's priority to be split between bits that 
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined 
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).  
+		
+		If CMSIS libraries are being used then the correct setting can be 
+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 
+		scheduler. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+

FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h

@@ -170,6 +170,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#else
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 

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

@@ -117,6 +117,12 @@ is defined. */
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
 
+/* Constants required to check the validity of an interrupt prority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+
 /* Constants required to manipulate the VFP. */
 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
 #define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )
@@ -188,6 +194,16 @@ static void prvEnableVFP( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( unsigned char * ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -279,6 +295,33 @@ __asm void prvEnableVFP( void )
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( char * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt
+		priority register. */
+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;
+
+		/* Read back the written priority to obtain its value as seen by the
+		hardware, which will only implement a subset of the priority bits. */
+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -587,3 +630,72 @@ __asm void vPortClearInterruptMask( unsigned long ulNewMask )
 	msr basepri, r0
 	bx r14
 }
+/*-----------------------------------------------------------*/
+
+__asm unsigned long vPortGetIPSR( void )
+{
+	PRESERVE8
+	
+	mrs r0, ipsr
+	bx r14
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		ulCurrentInterrupt = vPortGetIPSR();
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for 
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called 
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must 
+			be set to a value equal to or numerically *higher* than 
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+			
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 
+			and	therefore also guaranteed to be invalid.  
+			
+			FreeRTOS maintains separate thread and ISR API functions to ensure 
+			interrupt entry is as fast and simple as possible.
+			
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 
+		that define each interrupt's priority to be split between bits that 
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined 
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).  
+		
+		If CMSIS libraries are being used then the correct setting can be 
+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 
+		scheduler. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );
+	}
+	
+#endif /* configASSERT_DEFINED */
+
+

FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h

@@ -171,6 +171,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#else
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 

FreeRTOS/Source/queue.c

@@ -940,6 +940,7 @@ xQUEUE *pxQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 	/* Similar to xQueueGenericSend, except we don't block if there is no room
 	in the queue.  Also we don't directly wake a task that was blocked on a
@@ -1188,6 +1189,7 @@ xQUEUE *pxQueue;
 	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
@@ -1249,6 +1251,7 @@ xQUEUE *pxQueue;
 	pxQueue = ( xQUEUE * ) xQueue;
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	{

FreeRTOS/Source/tasks.c

@@ -1176,6 +1176,7 @@ tskTCB * pxNewTCB;
 	unsigned portBASE_TYPE uxSavedInterruptStatus;
 
 		configASSERT( xTaskToResume );
+		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 		pxTCB = ( tskTCB * ) xTaskToResume;
 
@@ -1414,6 +1415,8 @@ portTickType xTaskGetTickCountFromISR( void )
 portTickType xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
 
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+	
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	xReturn = xTickCount;
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );