Freertos mutex and task switching 2 cores version (IDFGH-14654)

[ifedotov1984]

Answers checklist.

• I have read the documentation ESP-IDF Programming Guide and the issue is not addressed there.
• I have updated my IDF branch (master or release) to the latest version and checked that the issue is present there.
• I have searched the issue tracker for a similar issue and not found a similar issue.

General issue report

If 2 cores and mutexes are used, a situation arises where on core 1 the highest priority task (which does not use mutexes) is not executed while a task on core 0 is waiting for a mutex.

Attached is a test project with this problem.
If you run it as is, then the task high _1 will be executed after high _0 is executed, although it is on another core and does not wait for the mutex.
2) if increase the priority of high _1 above high _0 (set 12 instead of 9), then the program execution becomes as expected
3) if transfer the task high _1 with priority 9 to core 0, then the program execution becomes as expected
4) if transfer the task low _1 with priority 1 to core 0, then the program execution becomes as expected

mutex_test.zip

I found out that this happens because of FreeRTOS priority inheritance https://www.freertos.org/Documentation/02-Kernel/02-Kernel-features/02-Queues-mutexes-and-semaphores/04-Mutexes.
With one core system, it is clear why this happens.
But with 2 cores, the principle of multiple cores is violated.
It turns out that while the low-priority task is executed on the first core (and takes mutex), the high-priority one (on first core) is not executed, because the high-priority task on the zero core is waiting for a mutex.