Greetings to all!

There was a problem using FreeRTOS.Using xTaskNotifyIndexedFromISR () in uart_handle, and xTaskNotifyWaitIndexed() in task , a strange switch occursif using portYIELD_FROM_ISR() in uart_handle . Without portYIELD_FROM_ISR() task switching is correct,and if switching task priority =tskIDLE_PRIORITY. Else task one and task two have priority !=skIDLE_PRIORITY using portYIELD_FROM_ISR() task do not swich. 

Has anyone else encountered this problem?

For example:

volatile BaseType_t xSendNotificationFromISR ;
TaskHandle_t xTaskToNotify = NULL;

static void led_task(void *pvParameters)

{
  reg_gpio_pb_oen &= ~ GPIO_PB7;
  while(1)

  {
    reg_gpio_pb_out |= GPIO_PB7;
    vTaskDelay(1000);
    reg_gpio_pb_out &= ~GPIO_PB7;
    vTaskDelay(1000);
  }
  (void)(pvParameters);
}
static void led_task1(void *pvParameters)

{
  uint32_t ulInterruptStatus;
  while(1)

  {
    xTaskNotifyWaitIndexed( 0, /* Wait for 0th Notificaition */
                                             0x00, /* Don't clear any bits on entry. */
                                             ULONG_MAX, /* Clear all bits on exit. */
                                             &ulInterruptStatus, /* Receives the notification value. */
                                             portMAX_DELAY ); /* Block indefinitely. */
   if( ( ulInterruptStatus & 0x01 ) != 0x00 )
   {
     gpio_toggle(LED_B);
    }
}
(void)(pvParameters);
}

int main (void)

{

/.......init..../

xTaskCreate( led_task, "tLed", configMINIMAL_STACK_SIZE, (void*)0, (tskIDLE_PRIORITY+2), 0 );

xTaskCreate( led_task1, "tLed1", configMINIMAL_STACK_SIZE, (void*)0, (tskIDLE_PRIORITY+1), &xTaskToNotify );

vTaskStartScheduler();

return 0;

}

_attribute_ram_code_sec_ void uart1_irq_handler(void)

{

 BaseType_t xHigherPriorityTaskWoken;

  uint32_t ulStatusRegister=0;

  if(uart_get_irq_status(UART_ID,UART_RXDONE))

  {

    ulStatusRegister|=UART_RX_FLAG_ISR;

    xHigherPriorityTaskWoken = pdFALSE;

    xTaskNotifyIndexedFromISR( xTaskToNotify, 0, ulStatusRegister, eSetBits, &xHigherPriorityTaskWoken );

    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );

  }

}

in FreeRTOSConfig.h

#define configUSE_PREEMPTION 1

#define configMAX_PRIORITIES ( 7 )

#define configMINIMAL_STACK_SIZE ( 256 )

#define configMAX_TASK_NAME_LEN ( 16 )

#define configUSE_16_BIT_TICKS 0

#define configIDLE_SHOULD_YIELD 0

#define configUSE_TASK_NOTIFICATIONS 1

#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 16 * 1024 ) )

#define configISR_STACK_SIZE_WORDS 64

Using  portYIELD_FROM_ISR () led_task1 not running Scheduler does not see threads to execute and spins in IDLE task.

Thanks for your attention.