Implement portASSERT_IF_INTERRUPT_PRIORITY_INVALID() for PIC32.

FreeRTOS/Source/portable/MPLAB/PIC32MX/portmacro.h

@@ -122,20 +122,40 @@ extern "C" {
 #define portSW0_BIT					( 0x01 << 8 )
 
 /* This clears the IPL bits, then sets them to 
-configMAX_SYSCALL_INTERRUPT_PRIORITY.  This function should not be called
+configMAX_SYSCALL_INTERRUPT_PRIORITY.  	An extra check is performed if 
-from an interrupt, so therefore will not be called with an IPL setting
+configASSERT() is defined to ensure an assertion handler does not inadvertently 
-above configMAX_SYSCALL_INTERRUPT_PRIORITY.  Therefore, when used correctly, the 
+attempt to lower the IPL when the call to assert was triggered because the IPL 
-instructions in this macro can only result in the IPL being raised, and 
+value was found to be above	configMAX_SYSCALL_INTERRUPT_PRIORITY when an ISR
-therefore never lowered. */
+safe FreeRTOS API function was executed.  ISR safe FreeRTOS API functions are
-#define portDISABLE_INTERRUPTS()										\
+those that end in FromISR.  FreeRTOS maintains a separate interrupt API to
-{																		\
+ensure API function and interrupt entry is as fast and as simple as possible. */
-unsigned long ulStatus;													\
+
+#ifdef configASSERT
+	#define portDISABLE_INTERRUPTS()											\
+	{																			\
+	unsigned long ulStatus;														\
 																				\
 		/* Mask interrupts at and below the kernel interrupt priority. */		\
 		ulStatus = _CP0_GET_STATUS();											\
+																				\
+		/* Is the current IPL below configMAX_SYSCALL_INTERRUPT_PRIORITY? */	\
+		if( ( ( ulStatus & portALL_IPL_BITS ) >> portIPL_SHIFT ) < configMAX_SYSCALL_INTERRUPT_PRIORITY )	\
+		{																		\
 			ulStatus &= ~portALL_IPL_BITS;										\
 			_CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
-}
+		}																		\
+	}
+#else
+	#define portDISABLE_INTERRUPTS()										\
+	{																		\
+	unsigned long ulStatus;													\
+																			\
+		/* Mask interrupts at and below the kernel interrupt priority. */	\
+		ulStatus = _CP0_GET_STATUS();										\
+		ulStatus &= ~portALL_IPL_BITS;										\
+		_CP0_SET_STATUS( ( ulStatus | ( configMAX_SYSCALL_INTERRUPT_PRIORITY << portIPL_SHIFT ) ) ); \
+	}
+#endif /* configASSERT */
 
 #define portENABLE_INTERRUPTS()											\
 {																		\
@@ -190,6 +210,11 @@ unsigned long ulStatus;							\
 	_CP0_SET_CAUSE( ulStatus );					\
 }
 
+#ifdef configASSERT
+	#define portCURRENT_INTERRUPT_PRIORITY ( ( _CP0_GET_STATUS() & portALL_IPL_BITS ) >> portIPL_SHIFT )
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() configASSERT( portCURRENT_INTERRUPT_PRIORITY <= configMAX_SYSCALL_INTERRUPT_PRIORITY )
+#endif /* configASSERT */
+
 
 #define portNOP()	asm volatile ( 	"nop" )