Default the definition of portASSERT_IF_IN_ISR() to nothing if it is not defined.

Helper updates to allow a count of the number of mutexes held to be added.
Updates to the CCS Cortex-R4 implementation necessitated by a change in compiler semantics.
Update PIC32MX and MZ ports to assert if a non ISR safe function is called from an ISR.

FreeRTOS/Source/include/FreeRTOS.h

@@ -717,6 +717,10 @@ is included as it is used by the port layer. */
 	#define mtCOVERAGE_TEST_MARKER()
 #endif
 
+#ifndef portASSERT_IF_IN_ISR
+	#define portASSERT_IF_IN_ISR()
+#endif
+
 /* Definitions to allow backward compatibility with FreeRTOS versions prior to
 V8 if desired. */
 #ifndef configENABLE_BACKWARD_COMPATIBILITY

FreeRTOS/Source/include/task.h

@@ -1507,7 +1507,7 @@ void vTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTIO
  * Set the priority of a task back to its proper priority in the case that it
  * inherited a higher priority while it was holding a semaphore.
  */
-void vTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
 
 /*
  * Generic version of the task creation function which is in turn called by the
@@ -1552,6 +1552,15 @@ void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
  */
 eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
 
+/*
+ * For internal use only.  Increment the mutex held count when a mutex is
+ * taken and decrement the mutex held count when the mutex is given back
+ * respectively.  The mutex held count is used to know when it is safe to
+ * disinherit a priority.
+ */
+void vTaskIncrementMutexHeldCount( void );
+void vTaskDecrementMutexHeldCount( void );
+
 #ifdef __cplusplus
 }
 #endif