freertos subpriority of xSemaphoreTake() within same priority tasks

Question

I have three tasks with same priority.

Task A 
mutextake()
//critical code
mutexgive()

Task B 
mutextake()
//critical code
mutexgive()

Task C 
mutextake()
//critical code
mutexgive()

Each of them run critical code guarded by a mutex. However I would like to set a "subpriority" to who would take the mutex in the event that two of the tasks are blocking waiting for the mutex. I dont want to set the tasks with different priorities as this will cause complications within the design of other tasks. Is this a feature with freertos to set a "subpriority" for a task to grab a mutex before another of the same priority?

Answer 1

In a word "no". FreeRTOS inter-task communication objects (https://www.freertos.org/Inter-Task-Communication.html) have lists of tasks waiting to send and lists of tasks waiting to receive (taking a mutex being a receive). The task in the list that succeeds when the operation can complete is the task with the highest priority - or if the tasks have equal priority - the task that has been waiting the longest.