diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h
index c15eb6d39..ba7d083a6 100644
--- a/include/FreeRTOS.h
+++ b/include/FreeRTOS.h
@@ -1714,6 +1714,22 @@
#define traceRETURN_uxTaskPriorityGetFromISR( uxReturn )
#endif
+#ifndef traceENTER_uxTaskBasePriorityGet
+ #define traceENTER_uxTaskBasePriorityGet( xTask )
+#endif
+
+#ifndef traceRETURN_uxTaskBasePriorityGet
+ #define traceRETURN_uxTaskBasePriorityGet( uxReturn )
+#endif
+
+#ifndef traceENTER_uxTaskBasePriorityGetFromISR
+ #define traceENTER_uxTaskBasePriorityGetFromISR( xTask )
+#endif
+
+#ifndef traceRETURN_uxTaskBasePriorityGetFromISR
+ #define traceRETURN_uxTaskBasePriorityGetFromISR( uxReturn )
+#endif
+
#ifndef traceENTER_vTaskPrioritySet
#define traceENTER_vTaskPrioritySet( xTask, uxNewPriority )
#endif
diff --git a/include/mpu_prototypes.h b/include/mpu_prototypes.h
index 863bb5678..1c9d8c048 100644
--- a/include/mpu_prototypes.h
+++ b/include/mpu_prototypes.h
@@ -128,6 +128,8 @@ BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
StackType_t ** ppuxStackBuffer,
StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
diff --git a/include/mpu_wrappers.h b/include/mpu_wrappers.h
index 162f57ff3..51e7bcf40 100644
--- a/include/mpu_wrappers.h
+++ b/include/mpu_wrappers.h
@@ -99,6 +99,8 @@
#define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
#define xTaskGetStaticBuffers MPU_xTaskGetStaticBuffers
#define uxTaskPriorityGetFromISR MPU_uxTaskPriorityGetFromISR
+ #define uxTaskBasePriorityGet MPU_uxTaskBasePriorityGet
+ #define uxTaskBasePriorityGetFromISR MPU_uxTaskBasePriorityGetFromISR
#define xTaskResumeFromISR MPU_xTaskResumeFromISR
#define xTaskGetApplicationTaskTagFromISR MPU_xTaskGetApplicationTaskTagFromISR
#define xTaskGenericNotifyFromISR MPU_xTaskGenericNotifyFromISR
diff --git a/include/task.h b/include/task.h
index de3ab5531..b6850e8bd 100644
--- a/include/task.h
+++ b/include/task.h
@@ -1021,6 +1021,37 @@ UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
*/
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+/**
+ * task. h
+ * @code{c}
+ * UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask );
+ * @endcode
+ *
+ * INCLUDE_uxTaskPriorityGet and configUSE_MUTEXES must be defined as 1 for this
+ * function to be available. See the configuration section for more information.
+ *
+ * Obtain the base priority of any task.
+ *
+ * @param xTask Handle of the task to be queried. Passing a NULL
+ * handle results in the base priority of the calling task being returned.
+ *
+ * @return The base priority of xTask.
+ *
+ * \defgroup uxTaskPriorityGet uxTaskBasePriorityGet
+ * \ingroup TaskCtrl
+ */
+UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * @code{c}
+ * UBaseType_t uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask );
+ * @endcode
+ *
+ * A version of uxTaskBasePriorityGet() that can be used from an ISR.
+ */
+UBaseType_t uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
/**
* task. h
* @code{c}
diff --git a/portable/Common/mpu_wrappers_v2.c b/portable/Common/mpu_wrappers_v2.c
index 9db5772ad..0f2dc654b 100644
--- a/portable/Common/mpu_wrappers_v2.c
+++ b/portable/Common/mpu_wrappers_v2.c
@@ -1894,6 +1894,72 @@
#endif /* #if ( INCLUDE_uxTaskPriorityGet == 1 ) */
/*-----------------------------------------------------------*/
+ #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
+
+ UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+ {
+ UBaseType_t uxReturn = configMAX_PRIORITIES;
+ int32_t lIndex;
+ TaskHandle_t xInternalTaskHandle = NULL;
+
+ if( xTask == NULL )
+ {
+ uxReturn = uxTaskBasePriorityGet( xTask );
+ }
+ else
+ {
+ lIndex = ( int32_t ) xTask;
+
+ if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+ {
+ xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+ if( xInternalTaskHandle != NULL )
+ {
+ uxReturn = uxTaskBasePriorityGet( xInternalTaskHandle );
+ }
+ }
+ }
+
+ return uxReturn;
+ }
+
+ #endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+ #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
+
+ UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+ {
+ UBaseType_t uxReturn = configMAX_PRIORITIES;
+ int32_t lIndex;
+ TaskHandle_t xInternalTaskHandle = NULL;
+
+ if( xTask == NULL )
+ {
+ uxReturn = uxTaskBasePriorityGetFromISR( xTask );
+ }
+ else
+ {
+ lIndex = ( int32_t ) xTask;
+
+ if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+ {
+ xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+ if( xInternalTaskHandle != NULL )
+ {
+ uxReturn = uxTaskBasePriorityGetFromISR( xInternalTaskHandle );
+ }
+ }
+ }
+
+ return uxReturn;
+ }
+
+ #endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) /* PRIVILEGED_FUNCTION */
diff --git a/tasks.c b/tasks.c
index 2cd130a82..6edf36ff3 100644
--- a/tasks.c
+++ b/tasks.c
@@ -2669,6 +2669,77 @@ static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
#endif /* INCLUDE_uxTaskPriorityGet */
/*-----------------------------------------------------------*/
+#if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
+
+ UBaseType_t uxTaskBasePriorityGet( const TaskHandle_t xTask )
+ {
+ TCB_t const * pxTCB;
+ UBaseType_t uxReturn;
+
+ traceENTER_uxTaskBasePriorityGet( xTask );
+
+ taskENTER_CRITICAL();
+ {
+ /* If null is passed in here then it is the base priority of the task
+ * that called uxTaskBasePriorityGet() that is being queried. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+ uxReturn = pxTCB->uxBasePriority;
+ }
+ taskEXIT_CRITICAL();
+
+ traceRETURN_uxTaskBasePriorityGet( uxReturn );
+
+ return uxReturn;
+ }
+
+#endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) )
+
+ UBaseType_t uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask )
+ {
+ TCB_t const * pxTCB;
+ UBaseType_t uxReturn;
+ UBaseType_t uxSavedInterruptStatus;
+
+ traceENTER_uxTaskBasePriorityGetFromISR( xTask );
+
+ /* RTOS ports that support interrupt nesting have the concept of a
+ * maximum system call (or maximum API call) interrupt priority.
+ * Interrupts that are above the maximum system call priority are keep
+ * permanently enabled, even when the RTOS kernel is in a critical section,
+ * but cannot make any calls to FreeRTOS API functions. If configASSERT()
+ * is defined in FreeRTOSConfig.h then
+ * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+ * failure if a FreeRTOS API function is called from an interrupt that has
+ * been assigned a priority above the configured maximum system call
+ * priority. Only FreeRTOS functions that end in FromISR can be called
+ * from interrupts that have been assigned a priority at or (logically)
+ * below the maximum system call interrupt priority. FreeRTOS maintains a
+ * separate interrupt safe API to ensure interrupt entry is as fast and as
+ * simple as possible. More information (albeit Cortex-M specific) is
+ * provided on the following link:
+ * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+ portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+ uxSavedInterruptStatus = taskENTER_CRITICAL_FROM_ISR();
+ {
+ /* If null is passed in here then it is the base priority of the calling
+ * task that is being queried. */
+ pxTCB = prvGetTCBFromHandle( xTask );
+ uxReturn = pxTCB->uxBasePriority;
+ }
+ taskEXIT_CRITICAL_FROM_ISR( uxSavedInterruptStatus );
+
+ traceRETURN_uxTaskBasePriorityGetFromISR( uxReturn );
+
+ return uxReturn;
+ }
+
+#endif /* #if ( ( INCLUDE_uxTaskPriorityGet == 1 ) && ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
#if ( INCLUDE_vTaskPrioritySet == 1 )
void vTaskPrioritySet( TaskHandle_t xTask,