score: Introduce map priority scheduler operation

Introduce map/unmap priority scheduler operations to map thread priority
values from/to the user domain to/from the scheduler domain.  Use the
map priority operation to validate the thread priority.  The EDF
schedulers use this new operation to distinguish between normal
priorities and priorities obtain through a job release.

Update #2173.
Update #2556.

18 files changed, 215 insertions, 17 deletions

diff --git a/cpukit/score/Makefile.am b/cpukit/score/Makefile.am
index 7166d72750..97f0b3d615 100644
--- a/cpukit/score/Makefile.am
+++ b/cpukit/score/Makefile.am
@@ -227,6 +227,7 @@ libscore_a_SOURCES += src/log2table.c
 libscore_a_SOURCES += src/scheduler.c
 libscore_a_SOURCES += src/schedulergetaffinity.c
 libscore_a_SOURCES += src/schedulersetaffinity.c
+libscore_a_SOURCES += src/schedulerdefaultmappriority.c
 libscore_a_SOURCES += src/schedulerdefaultnodedestroy.c
 libscore_a_SOURCES += src/schedulerdefaultnodeinit.c
 libscore_a_SOURCES += src/schedulerdefaultreleasejob.c
diff --git a/cpukit/score/include/rtems/score/coremutex.h b/cpukit/score/include/rtems/score/coremutex.h
index 26bb53920a..a3dcabf523 100644
--- a/cpukit/score/include/rtems/score/coremutex.h
+++ b/cpukit/score/include/rtems/score/coremutex.h
@@ -27,6 +27,8 @@
 #include <rtems/score/watchdog.h>
 #include <rtems/score/interr.h>
 
+struct Scheduler_Control;
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -83,6 +85,13 @@ typedef struct {
    * @brief The priority ceiling value for the mutex owner.
    */
   Priority_Control priority_ceiling;
+
+#if defined(RTEMS_SMP)
+  /**
+   * @brief The scheduler instance for this priority ceiling mutex.
+   */
+  const struct Scheduler_Control *scheduler;
+#endif
 } CORE_ceiling_mutex_Control;
 
 /**@}*/
diff --git a/cpukit/score/include/rtems/score/coremuteximpl.h b/cpukit/score/include/rtems/score/coremuteximpl.h
index 956dfa81ee..3a5ae99a95 100644
--- a/cpukit/score/include/rtems/score/coremuteximpl.h
+++ b/cpukit/score/include/rtems/score/coremuteximpl.h
@@ -20,6 +20,7 @@
 
 #include <rtems/score/coremutex.h>
 #include <rtems/score/chainimpl.h>
+#include <rtems/score/schedulerimpl.h>
 #include <rtems/score/status.h>
 #include <rtems/score/threadimpl.h>
 #include <rtems/score/threadqimpl.h>
@@ -358,11 +359,42 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_recursive_mutex_Surrender_no_protocol(
 
 RTEMS_INLINE_ROUTINE void _CORE_ceiling_mutex_Initialize(
   CORE_ceiling_mutex_Control *the_mutex,
+  const Scheduler_Control    *scheduler,
   Priority_Control            priority_ceiling
 )
 {
   _CORE_recursive_mutex_Initialize( &the_mutex->Recursive );
   the_mutex->priority_ceiling = priority_ceiling;
+#if defined(RTEMS_SMP)
+  the_mutex->scheduler = scheduler;
+#endif
+}
+
+RTEMS_INLINE_ROUTINE const Scheduler_Control *
+_CORE_ceiling_mutex_Get_scheduler(
+  const CORE_ceiling_mutex_Control *the_mutex
+)
+{
+#if defined(RTEMS_SMP)
+  return the_mutex->scheduler;
+#else
+  return _Scheduler_Get_by_CPU_index( 0 );
+#endif
+}
+
+RTEMS_INLINE_ROUTINE void _CORE_ceiling_mutex_Set_priority(
+  CORE_ceiling_mutex_Control *the_mutex,
+  Priority_Control            priority_ceiling
+)
+{
+  the_mutex->priority_ceiling = priority_ceiling;
+}
+
+RTEMS_INLINE_ROUTINE Priority_Control _CORE_ceiling_mutex_Get_priority(
+  const CORE_ceiling_mutex_Control *the_mutex
+)
+{
+  return the_mutex->priority_ceiling;
 }
 
 RTEMS_INLINE_ROUTINE Status_Control _CORE_ceiling_mutex_Set_owner(
@@ -414,6 +446,16 @@ RTEMS_INLINE_ROUTINE Status_Control _CORE_ceiling_mutex_Seize(
   owner = _CORE_mutex_Get_owner( &the_mutex->Recursive.Mutex );
 
   if ( owner == NULL ) {
+#if defined(RTEMS_SMP)
+    if (
+      _Scheduler_Get_own( executing )
+        != _CORE_ceiling_mutex_Get_scheduler( the_mutex )
+    ) {
+      _CORE_mutex_Release( &the_mutex->Recursive.Mutex, queue_context );
+      return STATUS_NOT_DEFINED;
+    }
+#endif
+
     return _CORE_ceiling_mutex_Set_owner(
       the_mutex,
       executing,
diff --git a/cpukit/score/include/rtems/score/mrspimpl.h b/cpukit/score/include/rtems/score/mrspimpl.h
index cdeaff35c1..66f5cc6640 100644
--- a/cpukit/score/include/rtems/score/mrspimpl.h
+++ b/cpukit/score/include/rtems/score/mrspimpl.h
@@ -138,10 +138,11 @@ RTEMS_INLINE_ROUTINE void _MRSP_Claim_ownership(
 }
 
 RTEMS_INLINE_ROUTINE Status_Control _MRSP_Initialize(
-  MRSP_Control     *mrsp,
-  Priority_Control  ceiling_priority,
-  Thread_Control   *executing,
-  bool              initially_locked
+  MRSP_Control            *mrsp,
+  const Scheduler_Control *scheduler,
+  Priority_Control         ceiling_priority,
+  Thread_Control          *executing,
+  bool                     initially_locked
 )
 {
   uint32_t scheduler_count = _Scheduler_Count;
@@ -159,7 +160,16 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Initialize(
   }
 
   for ( i = 0 ; i < scheduler_count ; ++i ) {
-    mrsp->ceiling_priorities[ i ] = ceiling_priority;
+    const Scheduler_Control *scheduler_of_cpu;
+
+    scheduler_of_cpu = _Scheduler_Get_by_CPU_index( i );
+
+    if ( scheduler != scheduler_of_cpu ) {
+      mrsp->ceiling_priorities[ i ] =
+        _Scheduler_Map_priority( scheduler_of_cpu, 0 );
+    } else {
+      mrsp->ceiling_priorities[ i ] = ceiling_priority;
+    }
   }
 
   _Resource_Initialize( &mrsp->Resource );
@@ -169,21 +179,27 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Initialize(
   return STATUS_SUCCESSFUL;
 }
 
-RTEMS_INLINE_ROUTINE Priority_Control _MRSP_Get_ceiling_priority(
-  MRSP_Control *mrsp,
-  uint32_t      scheduler_index
+RTEMS_INLINE_ROUTINE Priority_Control _MRSP_Get_priority(
+  const MRSP_Control      *mrsp,
+  const Scheduler_Control *scheduler
 )
 {
+  uint32_t scheduler_index;
+
+  scheduler_index = _Scheduler_Get_index( scheduler );
   return mrsp->ceiling_priorities[ scheduler_index ];
 }
 
-RTEMS_INLINE_ROUTINE void _MRSP_Set_ceiling_priority(
-  MRSP_Control      *mrsp,
-  uint32_t           scheduler_index,
-  Priority_Control   ceiling_priority
+RTEMS_INLINE_ROUTINE void _MRSP_Set_priority(
+  MRSP_Control            *mrsp,
+  const Scheduler_Control *scheduler,
+  Priority_Control         new_priority
 )
 {
-  mrsp->ceiling_priorities[ scheduler_index ] = ceiling_priority;
+  uint32_t scheduler_index;
+
+  scheduler_index = _Scheduler_Get_index( scheduler );
+  mrsp->ceiling_priorities[ scheduler_index ] = new_priority;
 }
 
 RTEMS_INLINE_ROUTINE void _MRSP_Timeout( Watchdog_Control *watchdog )
@@ -307,10 +323,8 @@ RTEMS_INLINE_ROUTINE Status_Control _MRSP_Seize(
 {
   Status_Control status;
   const Scheduler_Control *scheduler = _Scheduler_Get_own( executing );
-  uint32_t scheduler_index = _Scheduler_Get_index( scheduler );
   Priority_Control initial_priority = executing->current_priority;
-  Priority_Control ceiling_priority =
-    _MRSP_Get_ceiling_priority( mrsp, scheduler_index );
+  Priority_Control ceiling_priority = _MRSP_Get_priority( mrsp, scheduler );
   bool priority_ok = !_Thread_Priority_less_than(
     ceiling_priority,
     initial_priority
diff --git a/cpukit/score/include/rtems/score/scheduler.h b/cpukit/score/include/rtems/score/scheduler.h
index 2e9aba5072..ba9c2b50bb 100644
--- a/cpukit/score/include/rtems/score/scheduler.h
+++ b/cpukit/score/include/rtems/score/scheduler.h
@@ -91,6 +91,18 @@ typedef struct {
     bool
   );
 
+  /** @see _Scheduler_Map_priority() */
+  Priority_Control ( *map_priority )(
+    const Scheduler_Control *,
+    Priority_Control
+  );
+
+  /** @see _Scheduler_Unmap_priority() */
+  Priority_Control ( *unmap_priority )(
+    const Scheduler_Control *,
+    Priority_Control
+  );
+
 #if defined(RTEMS_SMP)
   /**
    * Ask for help operation.
@@ -403,6 +415,21 @@ extern const Scheduler_Control _Scheduler_Table[];
   extern const Scheduler_Assignment _Scheduler_Assignments[];
 #endif
 
+/**
+ * @brief Returns the thread priority.
+ *
+ * @param[in] scheduler Unused.
+ * @param[in] priority The thread priority.
+ *
+ * @return priority The thread priority.
+ */
+Priority_Control _Scheduler_default_Map_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+);
+
+#define _Scheduler_default_Unmap_priority _Scheduler_default_Map_priority
+
 #if defined(RTEMS_SMP)
   /**
    * @brief Does nothing.
diff --git a/cpukit/score/include/rtems/score/schedulercbs.h b/cpukit/score/include/rtems/score/schedulercbs.h
index 397488fc40..4e03e111a6 100644
--- a/cpukit/score/include/rtems/score/schedulercbs.h
+++ b/cpukit/score/include/rtems/score/schedulercbs.h
@@ -55,6 +55,8 @@ extern "C" {
     _Scheduler_EDF_Block,            /* block entry point */ \
     _Scheduler_CBS_Unblock,          /* unblock entry point */ \
     _Scheduler_EDF_Change_priority,  /* change priority entry point */ \
+    _Scheduler_EDF_Map_priority,     /* map priority entry point */ \
+    _Scheduler_EDF_Unmap_priority,   /* unmap priority entry point */ \
     SCHEDULER_OPERATION_DEFAULT_ASK_FOR_HELP \
     _Scheduler_CBS_Node_initialize,  /* node initialize entry point */ \
     _Scheduler_default_Node_destroy, /* node destroy entry point */ \
diff --git a/cpukit/score/include/rtems/score/scheduleredf.h b/cpukit/score/include/rtems/score/scheduleredf.h
index 7d513ca416..042143f80d 100644
--- a/cpukit/score/include/rtems/score/scheduleredf.h
+++ b/cpukit/score/include/rtems/score/scheduleredf.h
@@ -48,6 +48,8 @@ extern "C" {
     _Scheduler_EDF_Block,            /* block entry point */ \
     _Scheduler_EDF_Unblock,          /* unblock entry point */ \
     _Scheduler_EDF_Change_priority,  /* change priority entry point */ \
+    _Scheduler_EDF_Map_priority,     /* map priority entry point */ \
+    _Scheduler_EDF_Unmap_priority,   /* unmap priority entry point */ \
     SCHEDULER_OPERATION_DEFAULT_ASK_FOR_HELP \
     _Scheduler_EDF_Node_initialize,  /* node initialize entry point */ \
     _Scheduler_default_Node_destroy, /* node destroy entry point */ \
@@ -203,6 +205,16 @@ Scheduler_Void_or_thread _Scheduler_EDF_Change_priority(
   bool                     prepend_it
 );
 
+Priority_Control _Scheduler_EDF_Map_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+);
+
+Priority_Control _Scheduler_EDF_Unmap_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+);
+
 /**
  *  @brief invoked when a thread wishes to voluntarily
  *  transfer control of the processor to another thread
diff --git a/cpukit/score/include/rtems/score/schedulerimpl.h b/cpukit/score/include/rtems/score/schedulerimpl.h
index 50061fbe67..36214729d7 100644
--- a/cpukit/score/include/rtems/score/schedulerimpl.h
+++ b/cpukit/score/include/rtems/score/schedulerimpl.h
@@ -420,6 +420,43 @@ RTEMS_INLINE_ROUTINE void _Scheduler_Change_priority(
 }
 
 /**
+ * @brief Maps a thread priority from the user domain to the scheduler domain.
+ *
+ * Let M be the maximum scheduler priority.  The mapping must be bijective in
+ * the closed interval [0, M], e.g. _Scheduler_Unmap_priority( scheduler,
+ * _Scheduler_Map_priority( scheduler, p ) ) == p for all p in [0, M].  For
+ * other values the mapping is undefined.
+ *
+ * @param[in] scheduler The scheduler instance.
+ * @param[in] priority The user domain thread priority.
+ *
+ * @return The corresponding thread priority of the scheduler domain is returned.
+ */
+RTEMS_INLINE_ROUTINE Priority_Control _Scheduler_Map_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+)
+{
+  return ( *scheduler->Operations.map_priority )( scheduler, priority );
+}
+
+/**
+ * @brief Unmaps a thread priority from the scheduler domain to the user domain.
+ *
+ * @param[in] scheduler The scheduler instance.
+ * @param[in] priority The scheduler domain thread priority.
+ *
+ * @return The corresponding thread priority of the user domain is returned.
+ */
+RTEMS_INLINE_ROUTINE Priority_Control _Scheduler_Unmap_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+)
+{
+  return ( *scheduler->Operations.unmap_priority )( scheduler, priority );
+}
+
+/**
  * @brief Initializes a scheduler node.
  *
  * The scheduler node contains arbitrary data on function entry.  The caller
diff --git a/cpukit/score/include/rtems/score/schedulerpriority.h b/cpukit/score/include/rtems/score/schedulerpriority.h
index 07599416d6..d5e73c19fc 100644
--- a/cpukit/score/include/rtems/score/schedulerpriority.h
+++ b/cpukit/score/include/rtems/score/schedulerpriority.h
@@ -45,6 +45,8 @@ extern "C" {
     _Scheduler_priority_Block,            /* block entry point */ \
     _Scheduler_priority_Unblock,          /* unblock entry point */ \
     _Scheduler_priority_Change_priority,  /* change priority entry point */ \
+    _Scheduler_default_Map_priority,      /* map priority entry point */ \
+    _Scheduler_default_Unmap_priority,    /* unmap priority entry point */ \
     SCHEDULER_OPERATION_DEFAULT_ASK_FOR_HELP \
     _Scheduler_default_Node_initialize,   /* node initialize entry point */ \
     _Scheduler_default_Node_destroy,      /* node destroy entry point */ \
diff --git a/cpukit/score/include/rtems/score/schedulerpriorityaffinitysmp.h b/cpukit/score/include/rtems/score/schedulerpriorityaffinitysmp.h
index e2d6f3b1c7..b0a704478c 100644
--- a/cpukit/score/include/rtems/score/schedulerpriorityaffinitysmp.h
+++ b/cpukit/score/include/rtems/score/schedulerpriorityaffinitysmp.h
@@ -55,6 +55,8 @@ extern "C" {
     _Scheduler_priority_affinity_SMP_Block, \
     _Scheduler_priority_affinity_SMP_Unblock, \
     _Scheduler_priority_affinity_SMP_Change_priority, \
+    _Scheduler_default_Map_priority, \
+    _Scheduler_default_Unmap_priority, \
     _Scheduler_priority_affinity_SMP_Ask_for_help, \
     _Scheduler_priority_affinity_SMP_Node_initialize, \
     _Scheduler_default_Node_destroy, \
diff --git a/cpukit/score/include/rtems/score/schedulerprioritysmp.h b/cpukit/score/include/rtems/score/schedulerprioritysmp.h
index d550c78836..0af7000808 100644
--- a/cpukit/score/include/rtems/score/schedulerprioritysmp.h
+++ b/cpukit/score/include/rtems/score/schedulerprioritysmp.h
@@ -84,6 +84,8 @@ typedef struct {
     _Scheduler_priority_SMP_Block, \
     _Scheduler_priority_SMP_Unblock, \
     _Scheduler_priority_SMP_Change_priority, \
+    _Scheduler_default_Map_priority, \
+    _Scheduler_default_Unmap_priority, \
     _Scheduler_priority_SMP_Ask_for_help, \
     _Scheduler_priority_SMP_Node_initialize, \
     _Scheduler_default_Node_destroy, \
diff --git a/cpukit/score/include/rtems/score/schedulersimple.h b/cpukit/score/include/rtems/score/schedulersimple.h
index 9e40c4ac44..00f8dd790f 100644
--- a/cpukit/score/include/rtems/score/schedulersimple.h
+++ b/cpukit/score/include/rtems/score/schedulersimple.h
@@ -45,6 +45,8 @@ extern "C" {
     _Scheduler_simple_Block,              /* block entry point */ \
     _Scheduler_simple_Unblock,            /* unblock entry point */ \
     _Scheduler_simple_Change_priority,    /* change priority entry point */ \
+    _Scheduler_default_Map_priority,      /* map priority entry point */ \
+    _Scheduler_default_Unmap_priority,    /* unmap priority entry point */ \
     SCHEDULER_OPERATION_DEFAULT_ASK_FOR_HELP \
     _Scheduler_default_Node_initialize,   /* node initialize entry point */ \
     _Scheduler_default_Node_destroy,      /* node destroy entry point */ \
diff --git a/cpukit/score/include/rtems/score/schedulersimplesmp.h b/cpukit/score/include/rtems/score/schedulersimplesmp.h
index b9433534c6..31c837d00d 100644
--- a/cpukit/score/include/rtems/score/schedulersimplesmp.h
+++ b/cpukit/score/include/rtems/score/schedulersimplesmp.h
@@ -67,6 +67,8 @@ typedef struct {
     _Scheduler_simple_SMP_Block, \
     _Scheduler_simple_SMP_Unblock, \
     _Scheduler_simple_SMP_Change_priority, \
+    _Scheduler_default_Map_priority, \
+    _Scheduler_default_Unmap_priority, \
     _Scheduler_simple_SMP_Ask_for_help, \
     _Scheduler_simple_SMP_Node_initialize, \
     _Scheduler_default_Node_destroy, \
diff --git a/cpukit/score/include/rtems/score/schedulerstrongapa.h b/cpukit/score/include/rtems/score/schedulerstrongapa.h
index 4f95aac8fb..d7c3888d5a 100644
--- a/cpukit/score/include/rtems/score/schedulerstrongapa.h
+++ b/cpukit/score/include/rtems/score/schedulerstrongapa.h
@@ -84,6 +84,8 @@ typedef struct {
     _Scheduler_strong_APA_Block, \
     _Scheduler_strong_APA_Unblock, \
     _Scheduler_strong_APA_Change_priority, \
+    _Scheduler_default_Map_priority, \
+    _Scheduler_default_Unmap_priority, \
     _Scheduler_strong_APA_Ask_for_help, \
     _Scheduler_strong_APA_Node_initialize, \
     _Scheduler_default_Node_destroy, \
diff --git a/cpukit/score/include/rtems/score/status.h b/cpukit/score/include/rtems/score/status.h
index f6ebaa46f1..d30f731a70 100644
--- a/cpukit/score/include/rtems/score/status.h
+++ b/cpukit/score/include/rtems/score/status.h
@@ -38,6 +38,7 @@ typedef enum {
   STATUS_CLASSIC_INVALID_PRIORITY = 19,
   STATUS_CLASSIC_INVALID_SIZE = 8,
   STATUS_CLASSIC_NO_MEMORY = 26,
+  STATUS_CLASSIC_NOT_DEFINED = 11,
   STATUS_CLASSIC_NOT_OWNER_OF_RESOURCE = 23,
   STATUS_CLASSIC_OBJECT_WAS_DELETED = 7,
   STATUS_CLASSIC_RESOURCE_IN_USE = 12,
@@ -104,6 +105,8 @@ typedef enum {
     STATUS_BUILD( STATUS_CLASSIC_UNSATISFIED, EDEADLK ),
   STATUS_NO_MEMORY =
     STATUS_BUILD( STATUS_CLASSIC_NO_MEMORY, EINVAL ),
+  STATUS_NOT_DEFINED =
+    STATUS_BUILD( STATUS_CLASSIC_NOT_DEFINED, EINVAL ),
   STATUS_NOT_OWNER =
     STATUS_BUILD( STATUS_CLASSIC_NOT_OWNER_OF_RESOURCE, EPERM ),
   STATUS_OBJECT_WAS_DELETED =
diff --git a/cpukit/score/src/schedulerdefaultmappriority.c b/cpukit/score/src/schedulerdefaultmappriority.c
new file mode 100644
index 0000000000..37a600011e
--- /dev/null
+++ b/cpukit/score/src/schedulerdefaultmappriority.c
@@ -0,0 +1,21 @@
+/*
+ * Copyright (c) 2016 embedded brains GmbH
+ *
+ * The license and distribution terms for this file may be
+ * found in the file LICENSE in this distribution or at
+ * http://www.rtems.org/license/LICENSE.
+ */
+
+#if HAVE_CONFIG_H
+#include "config.h"
+#endif
+
+#include <rtems/score/scheduler.h>
+
+Priority_Control _Scheduler_default_Map_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+)
+{
+  return priority;
+}
diff --git a/cpukit/score/src/scheduleredfchangepriority.c b/cpukit/score/src/scheduleredfchangepriority.c
index 61e0481d03..6efbf87ad3 100644
--- a/cpukit/score/src/scheduleredfchangepriority.c
+++ b/cpukit/score/src/scheduleredfchangepriority.c
@@ -20,6 +20,22 @@
 
 #include <rtems/score/scheduleredfimpl.h>
 
+Priority_Control _Scheduler_EDF_Map_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+)
+{
+  return SCHEDULER_EDF_PRIO_MSB | priority;
+}
+
+Priority_Control _Scheduler_EDF_Unmap_priority(
+  const Scheduler_Control *scheduler,
+  Priority_Control         priority
+)
+{
+  return priority & ~SCHEDULER_EDF_PRIO_MSB;
+}
+
 Scheduler_Void_or_thread _Scheduler_EDF_Change_priority(
   const Scheduler_Control *scheduler,
   Thread_Control          *the_thread,
diff --git a/cpukit/score/src/threadcreateidle.c b/cpukit/score/src/threadcreateidle.c
index 0df53ecfab..89e5d60a18 100644
--- a/cpukit/score/src/threadcreateidle.c
+++ b/cpukit/score/src/threadcreateidle.c
@@ -19,6 +19,7 @@
 #endif
 
 #include <rtems/score/threadimpl.h>
+#include <rtems/score/assert.h>
 #include <rtems/score/schedulerimpl.h>
 #include <rtems/score/stackimpl.h>
 #include <rtems/score/sysstate.h>
@@ -47,6 +48,7 @@ static void _Thread_Create_idle_for_CPU( Per_CPU_Control *cpu )
    *  _Workspace_Initialization.
    */
   idle = _Thread_Internal_allocate();
+  _Assert( idle != NULL );
 
   _Thread_Initialize(
     &_Thread_Internal_information,
@@ -55,7 +57,7 @@ static void _Thread_Create_idle_for_CPU( Per_CPU_Control *cpu )
     NULL,        /* allocate the stack */
     _Stack_Ensure_minimum( rtems_configuration_get_idle_task_stack_size() ),
     CPU_IDLE_TASK_IS_FP,
-    scheduler->maximum_priority,
+    _Scheduler_Map_priority( scheduler, scheduler->maximum_priority ),
     true,        /* preemptable */
     THREAD_CPU_BUDGET_ALGORITHM_NONE,
     NULL,        /* no budget algorithm callout */