I want to use a soft interrupt on PIC32 with FreeRTOS. But when I adds it the soft interrupt handler, the kernal crash, even without the interrupt be enable. I know that the soft interrupt handler is right, because I  tested it on a short program without FreeRTOS and worked perfectly. This is the handler. void    __ISR(_CORE_SOFTWARE_0_VECTOR, ipl2) Soft0Interrupcion(void) {     IFS0bits.CS0IF = 0; //    INTClearFlag(INT_CS0);     mPORTAToggleBits(BIT_2); } I know that the program go into the soft interrupt handler only once (there is a toggle led inside). When I says that the kernal crash I mean that it never go into a context switch any more, although the tick interrupt is working. Any idea?.  Thank you.

See page http://www.freertos.org/port_PIC32_MIPS_MK4.html "The kernel makes use of the MIPS software interrupt 0. This interrupt is therefore not available for use by the application."

You are right. Thank you very much.