freertos: check that mutex is released by owner task

Mutex type semaphores should be acquired and released by the same task.
Add a check to xQueueGenericSend for this condition.

components/freertos/Kconfig

@@ -419,4 +419,11 @@ menu "FreeRTOS"
             abort the application. This option is also required for GDB backtraces and C++
             exceptions to work correctly inside top-level task functions.
 
+    config FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
+        bool "Check that mutex semaphore is given by owner task"
+        default y
+        help
+            If enabled, assert that when a mutex semaphore is given, the task giving the
+            semaphore is the task which is currently holding the mutex.
+
 endmenu

components/freertos/include/freertos/FreeRTOSConfig.h

@@ -314,5 +314,11 @@ extern void vPortCleanUpTCB ( void *pxTCB );
 #endif /* def __ASSEMBLER__ */
 #endif
 
+#if CONFIG_FREERTOS_CHECK_MUTEX_GIVEN_BY_OWNER
+#define configCHECK_MUTEX_GIVEN_BY_OWNER    1
+#else
+#define configCHECK_MUTEX_GIVEN_BY_OWNER    0
+#endif
+
 #endif /* FREERTOS_CONFIG_H */
 

components/freertos/queue.c

@@ -724,6 +724,12 @@ Queue_t * const pxQueue = ( Queue_t * ) xQueue;
 		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
 	}
 	#endif
+	#if ( configUSE_MUTEXES == 1 && configCHECK_MUTEX_GIVEN_BY_OWNER == 1)
+	{
+		configASSERT(pxQueue->uxQueueType != queueQUEUE_IS_MUTEX || pxQueue->pxMutexHolder == NULL || xTaskGetCurrentTaskHandle() == pxQueue->pxMutexHolder);
+	}
+	#endif
+
 
 
 	/* This function relaxes the coding standard somewhat to allow return

components/freertos/test/test_freertos_mutex.c

@@ -0,0 +1,21 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "unity.h"
+#include "esp_ipc.h"
+#include "test_utils.h"
+
+static void mutex_release_task(void* arg)
+{
+    SemaphoreHandle_t mutex = (SemaphoreHandle_t) arg;
+    xSemaphoreGive(mutex);
+    TEST_FAIL_MESSAGE("should not be reached");
+}
+
+TEST_CASE("mutex released not by owner causes an assert", "[freertos][reset=abort,SW_CPU_RESET]")
+{
+    SemaphoreHandle_t mutex = xSemaphoreCreateMutex();
+    xSemaphoreTake(mutex, portMAX_DELAY);
+    xTaskCreate(&mutex_release_task, "mutex_release", 2048, mutex, UNITY_FREERTOS_PRIORITY + 1, NULL);
+    vTaskDelay(1);
+}