FreeRTOS Real Time Kernel

I've written several FreeRTOS programs that run on Luminary chips. Interrupts work correctly, but you have to be careful about priority. Specifically, in the NVIC, lower-numbered priorities are higher. Also, there's an intermediate priority level (configMAX_SYSCALL_INTERRUPT_PRIORITY) above which you can't call FreeRTOS routines. There's a lot more information on the FreeRTOS website, but it's slightly difficult to find. (It would be nice if there was a FAQ about it, or a more-prominent link in a section talking about Cortex procs.) Here's where to start reading:

http://www.freertos.org/index.html?http://www.freertos.org/portcortexgcc.html

Near the bottom of the main frame, under the heading "RTOS Port specific configuration"