Introduce vTaskInternalSetTimeOutState() which does not have a critical section, and add a critical section to the public version of the same.

FreeRTOS/Source/include/task.h

@@ -2364,6 +2364,13 @@ eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
  */
 void *pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
 
+/*
+ * For internal use only.  Same as vTaskSetTimeOutState(), but without a critial
+ * section.
+ */
+void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
+
+
 #ifdef __cplusplus
 }
 #endif

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

@@ -548,7 +548,7 @@ void xPortSysTickHandler( void )
 void vPortSetupTimerInterrupt( void )
 {
 	/* Calculate the constants required to configure the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
+	#if( configUSE_TICKLESS_IDLE == 1 )
 	{
 		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
 		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;

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

@@ -1,5 +1,5 @@
 /*
-    FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
+    FreeRTOS V9.0.1 - Copyright (C) 2017 Real Time Engineers Ltd.
     All rights reserved
 
     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

FreeRTOS/Source/portable/IAR/ARM_CA5_No_GIC/portASM.s

@@ -132,12 +132,12 @@ FreeRTOS_IRQ_Handler
 	AND		r2, r2, #4
 	SUB		sp, sp, r2
 
-	PUSH	{r0-r3, lr}
+	PUSH	{r0-r4, lr}
 
 	; Call the port part specific handler.
 	LDR		r0, =vApplicationIRQHandler
 	BLX		r0
-	POP		{r0-r3, lr}
+	POP		{r0-r4, lr}
 	ADD		sp, sp, r2
 
 	CPSID	i

FreeRTOS/Source/queue.c

@@ -891,7 +891,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 				{
 					/* The queue was full and a block time was specified so
 					configure the timeout structure. */
-					vTaskSetTimeOutState( &xTimeOut );
+					vTaskInternalSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
 				else
@@ -1346,7 +1346,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 				{
 					/* The queue was empty and a block time was specified so
 					configure the timeout structure. */
-					vTaskSetTimeOutState( &xTimeOut );
+					vTaskInternalSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
 				else
@@ -1502,7 +1502,11 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 					/* For inheritance to have occurred there must have been an
 					initial timeout, and an adjusted timeout cannot become 0, as
 					if it were 0 the function would have exited. */
+					#if( configUSE_MUTEXES == 1 )
+					{
 						configASSERT( xInheritanceOccurred == pdFALSE );
+					}
+					#endif /* configUSE_MUTEXES */
 
 					/* The semaphore count was 0 and no block time is specified
 					(or the block time has expired) so exit now. */
@@ -1514,7 +1518,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 				{
 					/* The semaphore count was 0 and a block time was specified
 					so configure the timeout structure ready to block. */
-					vTaskSetTimeOutState( &xTimeOut );
+					vTaskInternalSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
 				else
@@ -1711,7 +1715,7 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 					/* The queue was empty and a block time was specified so
 					configure the timeout structure ready to enter the blocked
 					state. */
-					vTaskSetTimeOutState( &xTimeOut );
+					vTaskInternalSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
 				else

FreeRTOS/Source/tasks.c

@@ -3123,6 +3123,18 @@ TCB_t *pxUnblockedTCB;
 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
 {
 	configASSERT( pxTimeOut );
+	taskENTER_CRITICAL();
+	{
+		pxTimeOut->xOverflowCount = xNumOfOverflows;
+		pxTimeOut->xTimeOnEntering = xTickCount;
+	}
+	taskEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
+{
+	/* For internal use only as it does not use a critical section. */
 	pxTimeOut->xOverflowCount = xNumOfOverflows;
 	pxTimeOut->xTimeOnEntering = xTickCount;
 }
@@ -3176,7 +3188,7 @@ BaseType_t xReturn;
 		{
 			/* Not a genuine timeout. Adjust parameters for time remaining. */
 			*pxTicksToWait -= xElapsedTime;
-			vTaskSetTimeOutState( pxTimeOut );
+			vTaskInternalSetTimeOutState( pxTimeOut );
 			xReturn = pdFALSE;
 		}
 		else